From 3a9ded95d88f4c359b9c01f6c0c3836837b37680 Mon Sep 17 00:00:00 2001
From: "Patricio A. Vela" <pvela@gatech.edu>
Date: Wed, 9 Oct 2024 09:52:26 -0400
Subject: [PATCH 1/2] changing tags in puzzle_solver

---
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 docs/FSM_8py.html                             |  100 +
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 docs/Glove_8py.html                           |  109 +
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 ...ty_1_1utils_1_1DynamicDisplay-members.html |   91 +
 ..._1activity_1_1utils_1_1DynamicDisplay.html |  289 ++
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 ...ivity_1_1utils_1_1ParamDynamicDisplay.html |  209 ++
 ...ase_1_1BaseSurveillanceDeploy-members.html |  124 +
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 ...1deployment_1_1Base_1_1Params-members.html |   89 +
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 ...ctivity__record_1_1ActDecoder-members.html |   88 +
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 ...1layers_1_1HoveringHand_1_1Calibrator.html |  618 ++++
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 ...and_1_1CfgHandDetector__inherit__graph.md5 |    1 +
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 ...veringHand_1_1Detector__inherit__graph.map |    3 +
 ...veringHand_1_1Detector__inherit__graph.md5 |    1 +
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 ...yers_1_1HoveringHand_1_1InstPerceiver.html |   86 +
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 ...eringHand_1_1Perceiver__inherit__graph.map |    2 +
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 ...eringHand_1_1TrackPointer__coll__graph.md5 |    1 +
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 ...ngHand_1_1TrackPointer__inherit__graph.map |    2 +
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 ..._1layers_1_1PuzzleScene_1_1Calibrator.html |  660 ++++
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 ...zleScene_1_1Calibrator__inherit__graph.md5 |    1 +
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 ...PuzzleScene_1_1DetectorsState-members.html |   82 +
 ...yers_1_1PuzzleScene_1_1DetectorsState.html |  113 +
 ...1PuzzleScene_1_1Detectors__coll__graph.map |    2 +
 ...1PuzzleScene_1_1Detectors__coll__graph.md5 |    1 +
 ...1PuzzleScene_1_1Detectors__coll__graph.png |  Bin 0 -> 3382 bytes
 ...zzleScene_1_1Detectors__inherit__graph.map |    3 +
 ...zzleScene_1_1Detectors__inherit__graph.md5 |    1 +
 ...zzleScene_1_1Detectors__inherit__graph.png |  Bin 0 -> 5324 bytes
 ...1_1PuzzleScene_1_1InstPuzzlePerceiver.html |   86 +
 ...ers_1_1PuzzleScene_1_1InstPuzzleScene.html |   86 +
 ...s_1_1PuzzleScene_1_1Perceiver-members.html |   93 +
 ...1_1layers_1_1PuzzleScene_1_1Perceiver.html |  398 +++
 ...1PuzzleScene_1_1Perceiver__coll__graph.map |    2 +
 ...1PuzzleScene_1_1Perceiver__coll__graph.md5 |    1 +
 ...1PuzzleScene_1_1Perceiver__coll__graph.png |  Bin 0 -> 1675 bytes
 ...zzleScene_1_1Perceiver__inherit__graph.map |    2 +
 ...zzleScene_1_1Perceiver__inherit__graph.md5 |    1 +
 ...zzleScene_1_1Perceiver__inherit__graph.png |  Bin 0 -> 2153 bytes
 ...1PuzzleScene_1_1TrackPointers-members.html |   95 +
 ...ayers_1_1PuzzleScene_1_1TrackPointers.html |  493 +++
 ...zleScene_1_1TrackPointers__coll__graph.map |    2 +
 ...zleScene_1_1TrackPointers__coll__graph.md5 |    1 +
 ...zleScene_1_1TrackPointers__coll__graph.png |  Bin 0 -> 2980 bytes
 ...Scene_1_1TrackPointers__inherit__graph.map |    2 +
 ...Scene_1_1TrackPointers__inherit__graph.md5 |    1 +
 ...Scene_1_1TrackPointers__inherit__graph.png |  Bin 0 -> 2980 bytes
 ...nce_1_1layers_1_1base_1_1Base-members.html |   92 +
 ...urveillance_1_1layers_1_1base_1_1Base.html |  415 +++
 ...1_1layers_1_1base_1_1Base__coll__graph.map |    2 +
 ...1_1layers_1_1base_1_1Base__coll__graph.md5 |    1 +
 ...1_1layers_1_1base_1_1Base__coll__graph.png |  Bin 0 -> 2445 bytes
 ...layers_1_1base_1_1Base__inherit__graph.map |   10 +
 ...layers_1_1base_1_1Base__inherit__graph.md5 |    1 +
 ...layers_1_1base_1_1Base__inherit__graph.png |  Bin 0 -> 20081 bytes
 ...e_1_1layers_1_1base_1_1Params-members.html |   83 +
 ...veillance_1_1layers_1_1base_1_1Params.html |  151 +
 ...1layers_1_1base_1_1Params__coll__graph.map |    2 +
 ...1layers_1_1base_1_1Params__coll__graph.md5 |    1 +
 ...1layers_1_1base_1_1Params__coll__graph.png |  Bin 0 -> 2127 bytes
 ...yers_1_1base_1_1Params__inherit__graph.map |    2 +
 ...yers_1_1base_1_1Params__inherit__graph.md5 |    1 +
 ...yers_1_1base_1_1Params__inherit__graph.png |  Bin 0 -> 6239 bytes
 ...ayers_1_1base__bg_1_1Base__bg-members.html |   92 +
 ...nce_1_1layers_1_1base__bg_1_1Base__bg.html |  203 ++
 ...s_1_1base__bg_1_1Base__bg__coll__graph.map |    3 +
 ...s_1_1base__bg_1_1Base__bg__coll__graph.md5 |    1 +
 ...s_1_1base__bg_1_1Base__bg__coll__graph.png |  Bin 0 -> 4012 bytes
 ..._1base__bg_1_1Base__bg__inherit__graph.map |    4 +
 ..._1base__bg_1_1Base__bg__inherit__graph.md5 |    1 +
 ..._1base__bg_1_1Base__bg__inherit__graph.png |  Bin 0 -> 5635 bytes
 ...1layers_1_1base__bg_1_1Params-members.html |   83 +
 ...lance_1_1layers_1_1base__bg_1_1Params.html |  134 +
 ...ers_1_1base__bg_1_1Params__coll__graph.map |    2 +
 ...ers_1_1base__bg_1_1Params__coll__graph.md5 |    1 +
 ...ers_1_1base__bg_1_1Params__coll__graph.png |  Bin 0 -> 1605 bytes
 ..._1_1base__bg_1_1Params__inherit__graph.map |    3 +
 ..._1_1base__bg_1_1Params__inherit__graph.md5 |    1 +
 ..._1_1base__bg_1_1Params__inherit__graph.png |  Bin 0 -> 4426 bytes
 ...ayers_1_1base__fg_1_1Base__fg-members.html |   92 +
 ...nce_1_1layers_1_1base__fg_1_1Base__fg.html |  207 ++
 ...s_1_1base__fg_1_1Base__fg__coll__graph.map |    3 +
 ...s_1_1base__fg_1_1Base__fg__coll__graph.md5 |    1 +
 ...s_1_1base__fg_1_1Base__fg__coll__graph.png |  Bin 0 -> 3980 bytes
 ..._1base__fg_1_1Base__fg__inherit__graph.map |    8 +
 ..._1base__fg_1_1Base__fg__inherit__graph.md5 |    1 +
 ..._1base__fg_1_1Base__fg__inherit__graph.png |  Bin 0 -> 14562 bytes
 ...1layers_1_1base__fg_1_1Params-members.html |   83 +
 ...lance_1_1layers_1_1base__fg_1_1Params.html |  131 +
 ...ers_1_1base__fg_1_1Params__coll__graph.map |    2 +
 ...ers_1_1base__fg_1_1Params__coll__graph.md5 |    1 +
 ...ers_1_1base__fg_1_1Params__coll__graph.png |  Bin 0 -> 1605 bytes
 ..._1_1base__fg_1_1Params__inherit__graph.map |    3 +
 ..._1_1base__fg_1_1Params__inherit__graph.md5 |    1 +
 ..._1_1base__fg_1_1Params__inherit__graph.png |  Bin 0 -> 8717 bytes
 ...1human__seg_1_1Human__ColorSG-members.html |   94 +
 ...ayers_1_1human__seg_1_1Human__ColorSG.html |  247 ++
 ...Human__ColorSG__HeightInRange-members.html |  106 +
 ..._seg_1_1Human__ColorSG__HeightInRange.html |  646 ++++
 ...n__ColorSG__HeightInRange__coll__graph.map |    5 +
 ...n__ColorSG__HeightInRange__coll__graph.md5 |    1 +
 ...n__ColorSG__HeightInRange__coll__graph.png |  Bin 0 -> 9176 bytes
 ...ColorSG__HeightInRange__inherit__graph.map |    5 +
 ...ColorSG__HeightInRange__inherit__graph.md5 |    1 +
 ...ColorSG__HeightInRange__inherit__graph.png |  Bin 0 -> 9176 bytes
 ...an__seg_1_1Human__ColorSG__coll__graph.map |    4 +
 ...an__seg_1_1Human__ColorSG__coll__graph.md5 |    1 +
 ...an__seg_1_1Human__ColorSG__coll__graph.png |  Bin 0 -> 5265 bytes
 ..._seg_1_1Human__ColorSG__inherit__graph.map |    5 +
 ..._seg_1_1Human__ColorSG__inherit__graph.md5 |    1 +
 ..._seg_1_1Human__ColorSG__inherit__graph.png |  Bin 0 -> 9074 bytes
 ...ayers_1_1human__seg_1_1Params-members.html |   83 +
 ...nce_1_1layers_1_1human__seg_1_1Params.html |  134 +
 ...s_1_1human__seg_1_1Params__coll__graph.map |    2 +
 ...s_1_1human__seg_1_1Params__coll__graph.md5 |    1 +
 ...s_1_1human__seg_1_1Params__coll__graph.png |  Bin 0 -> 4084 bytes
 ..._1human__seg_1_1Params__inherit__graph.map |    2 +
 ..._1human__seg_1_1Params__inherit__graph.md5 |    1 +
 ..._1human__seg_1_1Params__inherit__graph.png |  Bin 0 -> 4803 bytes
 ...zzle__seg_1_1Params__Residual-members.html |   83 +
 ...rs_1_1puzzle__seg_1_1Params__Residual.html |  140 +
 ...__seg_1_1Params__Residual__coll__graph.map |    3 +
 ...__seg_1_1Params__Residual__coll__graph.md5 |    1 +
 ...__seg_1_1Params__Residual__coll__graph.png |  Bin 0 -> 4158 bytes
 ...eg_1_1Params__Residual__inherit__graph.map |    3 +
 ...eg_1_1Params__Residual__inherit__graph.md5 |    1 +
 ...eg_1_1Params__Residual__inherit__graph.png |  Bin 0 -> 4158 bytes
 ...zzle__seg_1_1Puzzle__Residual-members.html |   98 +
 ...rs_1_1puzzle__seg_1_1Puzzle__Residual.html |  343 ++
 ...__seg_1_1Puzzle__Residual__coll__graph.map |    4 +
 ...__seg_1_1Puzzle__Residual__coll__graph.md5 |    1 +
 ...__seg_1_1Puzzle__Residual__coll__graph.png |  Bin 0 -> 6264 bytes
 ...eg_1_1Puzzle__Residual__inherit__graph.map |    4 +
 ...eg_1_1Puzzle__Residual__inherit__graph.md5 |    1 +
 ...eg_1_1Puzzle__Residual__inherit__graph.png |  Bin 0 -> 6264 bytes
 ...ayers_1_1robot__seg_1_1Params-members.html |   83 +
 ...nce_1_1layers_1_1robot__seg_1_1Params.html |  134 +
 ...s_1_1robot__seg_1_1Params__coll__graph.map |    2 +
 ...s_1_1robot__seg_1_1Params__coll__graph.md5 |    1 +
 ...s_1_1robot__seg_1_1Params__coll__graph.png |  Bin 0 -> 1605 bytes
 ..._1robot__seg_1_1Params__inherit__graph.map |    2 +
 ..._1robot__seg_1_1Params__inherit__graph.md5 |    1 +
 ..._1robot__seg_1_1Params__inherit__graph.png |  Bin 0 -> 2070 bytes
 ...1robot__seg_1_1robot__inRange-members.html |   93 +
 ...ayers_1_1robot__seg_1_1robot__inRange.html |  219 ++
 ...seg_1_1robot__inRange__Height-members.html |  100 +
 ...1robot__seg_1_1robot__inRange__Height.html |  358 ++
 ...1_1robot__inRange__Height__coll__graph.map |    5 +
 ...1_1robot__inRange__Height__coll__graph.md5 |    1 +
 ...1_1robot__inRange__Height__coll__graph.png |  Bin 0 -> 7896 bytes
 ...robot__inRange__Height__inherit__graph.map |    5 +
 ...robot__inRange__Height__inherit__graph.md5 |    1 +
 ...robot__inRange__Height__inherit__graph.png |  Bin 0 -> 7896 bytes
 ...ot__seg_1_1robot__inRange__coll__graph.map |    4 +
 ...ot__seg_1_1robot__inRange__coll__graph.md5 |    1 +
 ...ot__seg_1_1robot__inRange__coll__graph.png |  Bin 0 -> 5042 bytes
 ..._seg_1_1robot__inRange__inherit__graph.map |    5 +
 ..._seg_1_1robot__inRange__inherit__graph.md5 |    1 +
 ..._seg_1_1robot__inRange__inherit__graph.png |  Bin 0 -> 7896 bytes
 ..._1_1layers_1_1scene_1_1Params-members.html |   84 +
 ...eillance_1_1layers_1_1scene_1_1Params.html |  166 +
 ..._1scene_1_1SceneInterpreterV1-members.html |  197 ++
 ...layers_1_1scene_1_1SceneInterpreterV1.html | 3006 +++++++++++++++++
 ...1tabletop__seg_1_1Params__GMM-members.html |   83 +
 ...ayers_1_1tabletop__seg_1_1Params__GMM.html |  140 +
 ...letop__seg_1_1Params__GMM__coll__graph.map |    3 +
 ...letop__seg_1_1Params__GMM__coll__graph.md5 |    1 +
 ...letop__seg_1_1Params__GMM__coll__graph.png |  Bin 0 -> 6417 bytes
 ...op__seg_1_1Params__GMM__inherit__graph.map |    3 +
 ...op__seg_1_1Params__GMM__inherit__graph.md5 |    1 +
 ...op__seg_1_1Params__GMM__inherit__graph.png |  Bin 0 -> 6417 bytes
 ...abletop__seg_1_1tabletop__GMM-members.html |   95 +
 ...ers_1_1tabletop__seg_1_1tabletop__GMM.html |  239 ++
 ...top__seg_1_1tabletop__GMM__coll__graph.map |    4 +
 ...top__seg_1_1tabletop__GMM__coll__graph.md5 |    1 +
 ...top__seg_1_1tabletop__GMM__coll__graph.png |  Bin 0 -> 5027 bytes
 ...__seg_1_1tabletop__GMM__inherit__graph.map |    4 +
 ...__seg_1_1tabletop__GMM__inherit__graph.md5 |    1 +
 ...__seg_1_1tabletop__GMM__inherit__graph.png |  Bin 0 -> 5027 bytes
 ..._1utils_1_1configs_1_1CfgNode-members.html |   83 +
 ...llance_1_1utils_1_1configs_1_1CfgNode.html |  178 +
 ...ils_1_1configs_1_1CfgNode__coll__graph.map |    2 +
 ...ils_1_1configs_1_1CfgNode__coll__graph.md5 |    1 +
 ...ils_1_1configs_1_1CfgNode__coll__graph.png |  Bin 0 -> 3183 bytes
 ..._1_1configs_1_1CfgNode__inherit__graph.map |    2 +
 ..._1_1configs_1_1CfgNode__inherit__graph.md5 |    1 +
 ..._1_1configs_1_1CfgNode__inherit__graph.png |  Bin 0 -> 3183 bytes
 ...__estimate_1_1HeightEstimator-members.html |   88 +
 ..._1height__estimate_1_1HeightEstimator.html |  250 ++
 ...1_1region__grow_1_1MaskGrower-members.html |   95 +
 ..._1utils_1_1region__grow_1_1MaskGrower.html |  172 +
 ...egion__grow_1_1MaskGrower__coll__graph.map |    3 +
 ...egion__grow_1_1MaskGrower__coll__graph.md5 |    1 +
 ...egion__grow_1_1MaskGrower__coll__graph.png |  Bin 0 -> 4732 bytes
 ...on__grow_1_1MaskGrower__inherit__graph.map |    3 +
 ...on__grow_1_1MaskGrower__inherit__graph.md5 |    1 +
 ...on__grow_1_1MaskGrower__inherit__graph.png |  Bin 0 -> 4732 bytes
 ...1_1region__grow_1_1RG__Params-members.html |   83 +
 ..._1utils_1_1region__grow_1_1RG__Params.html |  144 +
 ...grow_1_1RegionGrower__ValDiff-members.html |   97 +
 ...region__grow_1_1RegionGrower__ValDiff.html |  206 ++
 ..._1_1RegionGrower__ValDiff__coll__graph.map |    3 +
 ..._1_1RegionGrower__ValDiff__coll__graph.md5 |    1 +
 ..._1_1RegionGrower__ValDiff__coll__graph.png |  Bin 0 -> 5400 bytes
 ...1RegionGrower__ValDiff__inherit__graph.map |    3 +
 ...1RegionGrower__ValDiff__inherit__graph.md5 |    1 +
 ...1RegionGrower__ValDiff__inherit__graph.png |  Bin 0 -> 5400 bytes
 ...n__grow_1_1RegionGrower__base-members.html |   95 +
 ...1_1region__grow_1_1RegionGrower__base.html |  430 +++
 ..._1_1RegionGrower__base__inherit__graph.map |    4 +
 ..._1_1RegionGrower__base__inherit__graph.md5 |    1 +
 ..._1_1RegionGrower__base__inherit__graph.png |  Bin 0 -> 7422 bytes
 ...specifications_1_1dict2struct-members.html |   83 +
 ...tils_1_1specifications_1_1dict2struct.html |  150 +
 ...cifications_1_1specifications-members.html |   92 +
 ...s_1_1specifications_1_1specifications.html |  315 ++
 ...transform_1_1frameTransformer-members.html |   91 +
 ...tils_1_1transform_1_1frameTransformer.html |  413 +++
 ...etector_1_1Configuration_1_1AlgConfig.html |    2 +-
 ...iguration_1_1AlgConfig__inherit__graph.map |    2 +-
 ...iguration_1_1AlgConfig__inherit__graph.md5 |    2 +-
 ...1_1appearance_1_1fgAppearance-members.html |   37 +-
 ...fgmodel_1_1appearance_1_1fgAppearance.html |   36 +
 ...1targetCorner_1_1targetCorner-members.html |   37 +-
 ...model_1_1targetCorner_1_1targetCorner.html |    2 +
 ...argetMagenta_1_1targetMagenta-members.html |   37 +-
 ...del_1_1targetMagenta_1_1targetMagenta.html |    2 +
 ...l_1_1targetNeon_1_1targetNeon-members.html |   37 +-
 ..._1fgmodel_1_1targetNeon_1_1targetNeon.html |    2 +
 ...model_1_1targetSG_1_1targetSG-members.html |   47 +-
 ...or_1_1fgmodel_1_1targetSG_1_1targetSG.html |    2 +
 docs/classes.html                             |  146 +-
 docs/classhistogram_1_1Histogram-members.html |   85 +
 docs/classhistogram_1_1Histogram.html         |  262 ++
 ...asshistogram_1_1Histogram__coll__graph.map |    2 +
 ...asshistogram_1_1Histogram__coll__graph.md5 |    1 +
 ...asshistogram_1_1Histogram__coll__graph.png |  Bin 0 -> 3479 bytes
 ...histogram_1_1Histogram__inherit__graph.map |    2 +
 ...histogram_1_1Histogram__inherit__graph.md5 |    1 +
 ...histogram_1_1Histogram__inherit__graph.png |  Bin 0 -> 3479 bytes
 docs/classmoments_1_1Moments-members.html     |   85 +
 docs/classmoments_1_1Moments.html             |  252 ++
 docs/classmoments_1_1Moments__coll__graph.map |    2 +
 docs/classmoments_1_1Moments__coll__graph.md5 |    1 +
 docs/classmoments_1_1Moments__coll__graph.png |  Bin 0 -> 3429 bytes
 ...lassmoments_1_1Moments__inherit__graph.map |    2 +
 ...lassmoments_1_1Moments__inherit__graph.md5 |    1 +
 ...lassmoments_1_1Moments__inherit__graph.png |  Bin 0 -> 3429 bytes
 docs/classpca_1_1PCA-members.html             |   85 +
 docs/classpca_1_1PCA.html                     |  255 ++
 docs/classpca_1_1PCA__coll__graph.map         |    2 +
 docs/classpca_1_1PCA__coll__graph.md5         |    1 +
 docs/classpca_1_1PCA__coll__graph.png         |  Bin 0 -> 3077 bytes
 docs/classpca_1_1PCA__inherit__graph.map      |    2 +
 docs/classpca_1_1PCA__inherit__graph.md5      |    1 +
 docs/classpca_1_1PCA__inherit__graph.png      |  Bin 0 -> 3077 bytes
 ...classpuzzle_1_1board_1_1Board-members.html |   99 +
 docs/classpuzzle_1_1board_1_1Board.html       |  840 +++++
 ...zzle_1_1board_1_1Board__inherit__graph.map |    7 +
 ...zzle_1_1board_1_1Board__inherit__graph.md5 |    1 +
 ...zzle_1_1board_1_1Board__inherit__graph.png |  Bin 0 -> 9454 bytes
 ..._1board_1_1CfgCorrespondences-members.html |   86 +
 ...puzzle_1_1board_1_1CfgCorrespondences.html |  245 ++
 ...ard_1_1CfgCorrespondences__coll__graph.map |    3 +
 ...ard_1_1CfgCorrespondences__coll__graph.md5 |    1 +
 ...ard_1_1CfgCorrespondences__coll__graph.png |  Bin 0 -> 6182 bytes
 ..._1_1CfgCorrespondences__inherit__graph.map |    3 +
 ..._1_1CfgCorrespondences__inherit__graph.md5 |    1 +
 ..._1_1CfgCorrespondences__inherit__graph.png |  Bin 0 -> 6182 bytes
 ...1board_1_1CorrespondenceParms-members.html |   82 +
 ...uzzle_1_1board_1_1CorrespondenceParms.html |  113 +
 ...e_1_1board_1_1Correspondences-members.html |  100 +
 ...asspuzzle_1_1board_1_1Correspondences.html |  575 ++++
 ...ilder_1_1adjacent_1_1Adjacent-members.html |  114 +
 ...le_1_1builder_1_1adjacent_1_1Adjacent.html |  633 ++++
 ...r_1_1adjacent_1_1Adjacent__coll__graph.map |    4 +
 ...r_1_1adjacent_1_1Adjacent__coll__graph.md5 |    1 +
 ...r_1_1adjacent_1_1Adjacent__coll__graph.png |  Bin 0 -> 4657 bytes
 ..._1adjacent_1_1Adjacent__inherit__graph.map |    6 +
 ..._1adjacent_1_1Adjacent__inherit__graph.md5 |    1 +
 ..._1adjacent_1_1Adjacent__inherit__graph.png |  Bin 0 -> 7705 bytes
 ...er_1_1adjacent_1_1CfgAdjacent-members.html |   86 +
 ...1_1builder_1_1adjacent_1_1CfgAdjacent.html |  248 ++
 ..._1adjacent_1_1CfgAdjacent__coll__graph.map |    7 +
 ..._1adjacent_1_1CfgAdjacent__coll__graph.md5 |    1 +
 ..._1adjacent_1_1CfgAdjacent__coll__graph.png |  Bin 0 -> 11060 bytes
 ...djacent_1_1CfgAdjacent__inherit__graph.map |    9 +
 ...djacent_1_1CfgAdjacent__inherit__graph.md5 |    1 +
 ...djacent_1_1CfgAdjacent__inherit__graph.png |  Bin 0 -> 19304 bytes
 ...1_1arrangement_1_1Arrangement-members.html |  112 +
 ...builder_1_1arrangement_1_1Arrangement.html |  781 +++++
 ...rrangement_1_1Arrangement__coll__graph.map |    3 +
 ...rrangement_1_1Arrangement__coll__graph.md5 |    1 +
 ...rrangement_1_1Arrangement__coll__graph.png |  Bin 0 -> 3029 bytes
 ...ngement_1_1Arrangement__inherit__graph.map |    6 +
 ...ngement_1_1Arrangement__inherit__graph.md5 |    1 +
 ...ngement_1_1Arrangement__inherit__graph.png |  Bin 0 -> 7581 bytes
 ...arrangement_1_1CfgArrangement-members.html |   86 +
 ...lder_1_1arrangement_1_1CfgArrangement.html |  239 ++
 ...ngement_1_1CfgArrangement__coll__graph.map |    6 +
 ...ngement_1_1CfgArrangement__coll__graph.md5 |    1 +
 ...ngement_1_1CfgArrangement__coll__graph.png |  Bin 0 -> 12607 bytes
 ...ment_1_1CfgArrangement__inherit__graph.map |    9 +
 ...ment_1_1CfgArrangement__inherit__graph.md5 |    1 +
 ...ment_1_1CfgArrangement__inherit__graph.png |  Bin 0 -> 19302 bytes
 ...lder_1_1gridded_1_1CfgGridded-members.html |   86 +
 ...e_1_1builder_1_1gridded_1_1CfgGridded.html |  266 ++
 ..._1_1gridded_1_1CfgGridded__coll__graph.map |    9 +
 ..._1_1gridded_1_1CfgGridded__coll__graph.md5 |    1 +
 ..._1_1gridded_1_1CfgGridded__coll__graph.png |  Bin 0 -> 19296 bytes
 ...1gridded_1_1CfgGridded__inherit__graph.map |    9 +
 ...1gridded_1_1CfgGridded__inherit__graph.md5 |    1 +
 ...1gridded_1_1CfgGridded__inherit__graph.png |  Bin 0 -> 19296 bytes
 ...builder_1_1gridded_1_1Gridded-members.html |  119 +
 ...zzle_1_1builder_1_1gridded_1_1Gridded.html |  564 ++++
 ...der_1_1gridded_1_1Gridded__coll__graph.map |    6 +
 ...der_1_1gridded_1_1Gridded__coll__graph.md5 |    1 +
 ...der_1_1gridded_1_1Gridded__coll__graph.png |  Bin 0 -> 7107 bytes
 ..._1_1gridded_1_1Gridded__inherit__graph.map |    6 +
 ..._1_1gridded_1_1Gridded__inherit__graph.md5 |    1 +
 ..._1_1gridded_1_1Gridded__inherit__graph.png |  Bin 0 -> 7107 bytes
 ...terlocking_1_1CfgInterlocking-members.html |   86 +
 ...er_1_1interlocking_1_1CfgInterlocking.html |  257 ++
 ...ocking_1_1CfgInterlocking__coll__graph.map |    8 +
 ...ocking_1_1CfgInterlocking__coll__graph.md5 |    1 +
 ...ocking_1_1CfgInterlocking__coll__graph.png |  Bin 0 -> 12404 bytes
 ...ing_1_1CfgInterlocking__inherit__graph.map |    9 +
 ...ing_1_1CfgInterlocking__inherit__graph.md5 |    1 +
 ...ing_1_1CfgInterlocking__inherit__graph.png |  Bin 0 -> 19312 bytes
 ...1interlocking_1_1Interlocking-members.html |  116 +
 ...ilder_1_1interlocking_1_1Interlocking.html |  656 ++++
 ...erlocking_1_1Interlocking__coll__graph.map |    5 +
 ...erlocking_1_1Interlocking__coll__graph.md5 |    1 +
 ...erlocking_1_1Interlocking__coll__graph.png |  Bin 0 -> 5989 bytes
 ...ocking_1_1Interlocking__inherit__graph.map |    6 +
 ...ocking_1_1Interlocking__inherit__graph.md5 |    1 +
 ...ocking_1_1Interlocking__inherit__graph.png |  Bin 0 -> 7410 bytes
 ...lusters_1_1byColor_1_1ByColor-members.html |  108 +
 ...zle_1_1clusters_1_1byColor_1_1ByColor.html |  377 +++
 ...ers_1_1byColor_1_1ByColor__coll__graph.map |    3 +
 ...ers_1_1byColor_1_1ByColor__coll__graph.md5 |    1 +
 ...ers_1_1byColor_1_1ByColor__coll__graph.png |  Bin 0 -> 2361 bytes
 ..._1_1byColor_1_1ByColor__inherit__graph.map |    3 +
 ..._1_1byColor_1_1ByColor__inherit__graph.md5 |    1 +
 ..._1_1byColor_1_1ByColor__inherit__graph.png |  Bin 0 -> 2361 bytes
 ...1byColor_1_1ParamColorCluster-members.html |   84 +
 ...sters_1_1byColor_1_1ParamColorCluster.html |  167 +
 ...lusters_1_1byShape_1_1ByShape-members.html |   87 +
 ...zle_1_1clusters_1_1byShape_1_1ByShape.html |  237 ++
 ...ers_1_1byShape_1_1ByShape__coll__graph.map |    2 +
 ...ers_1_1byShape_1_1ByShape__coll__graph.md5 |    1 +
 ...ers_1_1byShape_1_1ByShape__coll__graph.png |  Bin 0 -> 2704 bytes
 ..._1_1byShape_1_1ByShape__inherit__graph.map |    2 +
 ..._1_1byShape_1_1ByShape__inherit__graph.md5 |    1 +
 ..._1_1byShape_1_1ByShape__inherit__graph.png |  Bin 0 -> 2704 bytes
 ...1byShape_1_1ParamShapeCluster-members.html |   82 +
 ...sters_1_1byShape_1_1ParamShapeCluster.html |  113 +
 ...spuzzle_1_1manager_1_1Manager-members.html |   96 +
 docs/classpuzzle_1_1manager_1_1Manager.html   |  486 +++
 ...le_1_1manager_1_1ManagerParms-members.html |   82 +
 ...lasspuzzle_1_1manager_1_1ManagerParms.html |  113 +
 ...zle_1_1manager_1_1Manager__coll__graph.map |    2 +
 ...zle_1_1manager_1_1Manager__coll__graph.md5 |    1 +
 ...zle_1_1manager_1_1Manager__coll__graph.png |  Bin 0 -> 3066 bytes
 ..._1_1manager_1_1Manager__inherit__graph.map |    2 +
 ..._1_1manager_1_1Manager__inherit__graph.md5 |    1 +
 ..._1_1manager_1_1Manager__inherit__graph.png |  Bin 0 -> 3066 bytes
 ...rse_1_1fromLayer_1_1FromLayer-members.html |  114 +
 ...le_1_1parse_1_1fromLayer_1_1FromLayer.html |  537 +++
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 ...1_1fromLayer_1_1FromLayer__coll__graph.md5 |    1 +
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 ...fromLayer_1_1FromLayer__inherit__graph.map |    4 +
 ...fromLayer_1_1FromLayer__inherit__graph.md5 |    1 +
 ...fromLayer_1_1FromLayer__inherit__graph.png |  Bin 0 -> 5487 bytes
 ...e_1_1fromLayer_1_1ParamPuzzle-members.html |   85 +
 ..._1_1parse_1_1fromLayer_1_1ParamPuzzle.html |  185 +
 ...e_1_1fromSketch_1_1FromSketch-members.html |  103 +
 ..._1_1parse_1_1fromSketch_1_1FromSketch.html |  329 ++
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 ...1fromSketch_1_1FromSketch__coll__graph.md5 |    1 +
 ...1fromSketch_1_1FromSketch__coll__graph.png |  Bin 0 -> 5214 bytes
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 ...omSketch_1_1FromSketch__inherit__graph.png |  Bin 0 -> 5214 bytes
 ..._1_1parse_1_1simple_1_1Simple-members.html |   91 +
 ...sspuzzle_1_1parse_1_1simple_1_1Simple.html |  374 ++
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 ...parse_1_1simple_1_1Simple__coll__graph.md5 |    1 +
 ...parse_1_1simple_1_1Simple__coll__graph.png |  Bin 0 -> 2354 bytes
 ...se_1_1simple_1_1Simple__inherit__graph.map |    2 +
 ...se_1_1simple_1_1Simple__inherit__graph.md5 |    1 +
 ...se_1_1simple_1_1Simple__inherit__graph.png |  Bin 0 -> 2354 bytes
 ..._1_1parser_1_1CfgBoardMeasure-members.html |   86 +
 ...sspuzzle_1_1parser_1_1CfgBoardMeasure.html |  247 ++
 ...parser_1_1CfgBoardMeasure__coll__graph.map |    5 +
 ...parser_1_1CfgBoardMeasure__coll__graph.md5 |    1 +
 ...parser_1_1CfgBoardMeasure__coll__graph.png |  Bin 0 -> 8059 bytes
 ...ser_1_1CfgBoardMeasure__inherit__graph.map |    9 +
 ...ser_1_1CfgBoardMeasure__inherit__graph.md5 |    1 +
 ...ser_1_1CfgBoardMeasure__inherit__graph.png |  Bin 0 -> 19372 bytes
 ...zle_1_1parser_1_1boardMeasure-members.html |  113 +
 ...classpuzzle_1_1parser_1_1boardMeasure.html |  537 +++
 ...1_1parser_1_1boardMeasure__coll__graph.map |    4 +
 ...1_1parser_1_1boardMeasure__coll__graph.md5 |    1 +
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 ...parser_1_1boardMeasure__inherit__graph.map |    4 +
 ...parser_1_1boardMeasure__inherit__graph.md5 |    1 +
 ...parser_1_1boardMeasure__inherit__graph.png |  Bin 0 -> 6663 bytes
 ...le_1_1parser_1_1boardPerceive-members.html |   91 +
 ...lasspuzzle_1_1parser_1_1boardPerceive.html |  380 +++
 ..._1parser_1_1boardPerceive__coll__graph.map |    2 +
 ..._1parser_1_1boardPerceive__coll__graph.md5 |    1 +
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 ...arser_1_1boardPerceive__inherit__graph.map |    2 +
 ...arser_1_1boardPerceive__inherit__graph.md5 |    1 +
 ...arser_1_1boardPerceive__inherit__graph.png |  Bin 0 -> 2947 bytes
 ...asspuzzle_1_1piece_1_1EdgeDes-members.html |   83 +
 docs/classpuzzle_1_1piece_1_1EdgeDes.html     |  137 +
 ...zle_1_1piece_1_1EdgeDirection-members.html |   85 +
 ...classpuzzle_1_1piece_1_1EdgeDirection.html |  197 ++
 ...1_1piece_1_1EdgeDirection__coll__graph.map |    2 +
 ...1_1piece_1_1EdgeDirection__coll__graph.md5 |    1 +
 ...1_1piece_1_1EdgeDirection__coll__graph.png |  Bin 0 -> 2932 bytes
 ...piece_1_1EdgeDirection__inherit__graph.map |    2 +
 ...piece_1_1EdgeDirection__inherit__graph.md5 |    1 +
 ...piece_1_1EdgeDirection__inherit__graph.png |  Bin 0 -> 2932 bytes
 ...sspuzzle_1_1piece_1_1EdgeType-members.html |   85 +
 docs/classpuzzle_1_1piece_1_1EdgeType.html    |  197 ++
 ...zzle_1_1piece_1_1EdgeType__coll__graph.map |    2 +
 ...zzle_1_1piece_1_1EdgeType__coll__graph.md5 |    1 +
 ...zzle_1_1piece_1_1EdgeType__coll__graph.png |  Bin 0 -> 2397 bytes
 ...e_1_1piece_1_1EdgeType__inherit__graph.map |    2 +
 ...e_1_1piece_1_1EdgeType__inherit__graph.md5 |    1 +
 ...e_1_1piece_1_1EdgeType__inherit__graph.png |  Bin 0 -> 2397 bytes
 ...classpuzzle_1_1piece_1_1Piece-members.html |   82 +
 docs/classpuzzle_1_1piece_1_1Piece.html       |  109 +
 ...uzzle_1_1piece_1_1PieceStatus-members.html |   87 +
 docs/classpuzzle_1_1piece_1_1PieceStatus.html |  248 ++
 ...e_1_1piece_1_1PieceStatus__coll__graph.map |    2 +
 ...e_1_1piece_1_1PieceStatus__coll__graph.md5 |    1 +
 ...e_1_1piece_1_1PieceStatus__coll__graph.png |  Bin 0 -> 2488 bytes
 ..._1piece_1_1PieceStatus__inherit__graph.map |    2 +
 ..._1piece_1_1PieceStatus__inherit__graph.md5 |    1 +
 ..._1piece_1_1PieceStatus__inherit__graph.png |  Bin 0 -> 2488 bytes
 ...le_1_1piece_1_1PuzzleTemplate-members.html |   83 +
 ...lasspuzzle_1_1piece_1_1PuzzleTemplate.html |  142 +
 ...asspuzzle_1_1piece_1_1Regular-members.html |  115 +
 docs/classpuzzle_1_1piece_1_1Regular.html     |  501 +++
 ...uzzle_1_1piece_1_1Regular__coll__graph.map |    3 +
 ...uzzle_1_1piece_1_1Regular__coll__graph.md5 |    1 +
 ...uzzle_1_1piece_1_1Regular__coll__graph.png |  Bin 0 -> 2793 bytes
 ...le_1_1piece_1_1Regular__inherit__graph.map |    3 +
 ...le_1_1piece_1_1Regular__inherit__graph.md5 |    1 +
 ...le_1_1piece_1_1Regular__inherit__graph.png |  Bin 0 -> 2793 bytes
 ...sspuzzle_1_1piece_1_1Template-members.html |  107 +
 docs/classpuzzle_1_1piece_1_1Template.html    |  977 ++++++
 ...e_1_1piece_1_1Template__inherit__graph.map |    3 +
 ...e_1_1piece_1_1Template__inherit__graph.md5 |    1 +
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 ...zle_1_1pieces_1_1edge_1_1Edge-members.html |   94 +
 ...classpuzzle_1_1pieces_1_1edge_1_1Edge.html |  457 +++
 ...1_1pieces_1_1edge_1_1Edge__coll__graph.map |    4 +
 ...1_1pieces_1_1edge_1_1Edge__coll__graph.md5 |    1 +
 ...1_1pieces_1_1edge_1_1Edge__coll__graph.png |  Bin 0 -> 4706 bytes
 ...pieces_1_1edge_1_1Edge__inherit__graph.map |    4 +
 ...pieces_1_1edge_1_1Edge__inherit__graph.md5 |    1 +
 ...pieces_1_1edge_1_1Edge__inherit__graph.png |  Bin 0 -> 4706 bytes
 ...matchDifferent_1_1CfgDistance-members.html |   84 +
 ...eces_1_1matchDifferent_1_1CfgDistance.html |  229 ++
 ...hDifferent_1_1CfgDistance__coll__graph.map |    5 +
 ...hDifferent_1_1CfgDistance__coll__graph.md5 |    1 +
 ...hDifferent_1_1CfgDistance__coll__graph.png |  Bin 0 -> 7549 bytes
 ...fferent_1_1CfgDistance__inherit__graph.map |    5 +
 ...fferent_1_1CfgDistance__inherit__graph.md5 |    1 +
 ...fferent_1_1CfgDistance__inherit__graph.png |  Bin 0 -> 7549 bytes
 ...chDifferent_1_1CfgHistogramCV-members.html |   85 +
 ...s_1_1matchDifferent_1_1CfgHistogramCV.html |  264 ++
 ...fferent_1_1CfgHistogramCV__coll__graph.map |    5 +
 ...fferent_1_1CfgHistogramCV__coll__graph.md5 |    1 +
 ...fferent_1_1CfgHistogramCV__coll__graph.png |  Bin 0 -> 7697 bytes
 ...rent_1_1CfgHistogramCV__inherit__graph.map |    5 +
 ...rent_1_1CfgHistogramCV__inherit__graph.md5 |    1 +
 ...rent_1_1CfgHistogramCV__inherit__graph.png |  Bin 0 -> 7697 bytes
 ...1matchDifferent_1_1CfgMoments-members.html |   84 +
 ...ieces_1_1matchDifferent_1_1CfgMoments.html |  227 ++
 ...chDifferent_1_1CfgMoments__coll__graph.map |    5 +
 ...chDifferent_1_1CfgMoments__coll__graph.md5 |    1 +
 ...chDifferent_1_1CfgMoments__coll__graph.png |  Bin 0 -> 7512 bytes
 ...ifferent_1_1CfgMoments__inherit__graph.map |    5 +
 ...ifferent_1_1CfgMoments__inherit__graph.md5 |    1 +
 ...ifferent_1_1CfgMoments__inherit__graph.png |  Bin 0 -> 7512 bytes
 ...s_1_1matchDifferent_1_1CfgPCA-members.html |   84 +
 ...1_1pieces_1_1matchDifferent_1_1CfgPCA.html |  227 ++
 ...1matchDifferent_1_1CfgPCA__coll__graph.map |    5 +
 ...1matchDifferent_1_1CfgPCA__coll__graph.md5 |    1 +
 ...1matchDifferent_1_1CfgPCA__coll__graph.png |  Bin 0 -> 6991 bytes
 ...tchDifferent_1_1CfgPCA__inherit__graph.map |    5 +
 ...tchDifferent_1_1CfgPCA__inherit__graph.md5 |    1 +
 ...tchDifferent_1_1CfgPCA__inherit__graph.png |  Bin 0 -> 6991 bytes
 ...1_1matchDifferent_1_1Distance-members.html |   87 +
 ...1pieces_1_1matchDifferent_1_1Distance.html |  240 ++
 ...atchDifferent_1_1Distance__coll__graph.map |    4 +
 ...atchDifferent_1_1Distance__coll__graph.md5 |    1 +
 ...atchDifferent_1_1Distance__coll__graph.png |  Bin 0 -> 5025 bytes
 ...hDifferent_1_1Distance__inherit__graph.map |    4 +
 ...hDifferent_1_1Distance__inherit__graph.md5 |    1 +
 ...hDifferent_1_1Distance__inherit__graph.png |  Bin 0 -> 5025 bytes
 ...matchDifferent_1_1HistogramCV-members.html |   86 +
 ...eces_1_1matchDifferent_1_1HistogramCV.html |  245 ++
 ...hDifferent_1_1HistogramCV__coll__graph.map |    4 +
 ...hDifferent_1_1HistogramCV__coll__graph.md5 |    1 +
 ...hDifferent_1_1HistogramCV__coll__graph.png |  Bin 0 -> 5500 bytes
 ...fferent_1_1HistogramCV__inherit__graph.map |    4 +
 ...fferent_1_1HistogramCV__inherit__graph.md5 |    1 +
 ...fferent_1_1HistogramCV__inherit__graph.png |  Bin 0 -> 5500 bytes
 ..._1_1matchDifferent_1_1Moments-members.html |   86 +
 ..._1pieces_1_1matchDifferent_1_1Moments.html |  252 ++
 ...matchDifferent_1_1Moments__coll__graph.map |    4 +
 ...matchDifferent_1_1Moments__coll__graph.md5 |    1 +
 ...matchDifferent_1_1Moments__coll__graph.png |  Bin 0 -> 4983 bytes
 ...chDifferent_1_1Moments__inherit__graph.map |    4 +
 ...chDifferent_1_1Moments__inherit__graph.md5 |    1 +
 ...chDifferent_1_1Moments__inherit__graph.png |  Bin 0 -> 4983 bytes
 ...eces_1_1matchDifferent_1_1PCA-members.html |   87 +
 ...le_1_1pieces_1_1matchDifferent_1_1PCA.html |  296 ++
 ..._1_1matchDifferent_1_1PCA__coll__graph.map |    4 +
 ..._1_1matchDifferent_1_1PCA__coll__graph.md5 |    1 +
 ..._1_1matchDifferent_1_1PCA__coll__graph.png |  Bin 0 -> 4649 bytes
 ...1matchDifferent_1_1PCA__inherit__graph.map |    4 +
 ...1matchDifferent_1_1PCA__inherit__graph.md5 |    1 +
 ...1matchDifferent_1_1PCA__inherit__graph.png |  Bin 0 -> 4649 bytes
 ..._1_1matchSimilar_1_1CfgSIFTCV-members.html |   83 +
 ..._1pieces_1_1matchSimilar_1_1CfgSIFTCV.html |  198 ++
 ...matchSimilar_1_1CfgSIFTCV__coll__graph.map |    2 +
 ...matchSimilar_1_1CfgSIFTCV__coll__graph.md5 |    1 +
 ...matchSimilar_1_1CfgSIFTCV__coll__graph.png |  Bin 0 -> 3317 bytes
 ...chSimilar_1_1CfgSIFTCV__inherit__graph.map |    2 +
 ...chSimilar_1_1CfgSIFTCV__inherit__graph.md5 |    1 +
 ...chSimilar_1_1CfgSIFTCV__inherit__graph.png |  Bin 0 -> 3317 bytes
 ...ces_1_1matchSimilar_1_1SIFTCV-members.html |   85 +
 ...e_1_1pieces_1_1matchSimilar_1_1SIFTCV.html |  290 ++
 ...1_1matchSimilar_1_1SIFTCV__coll__graph.map |    2 +
 ...1_1matchSimilar_1_1SIFTCV__coll__graph.md5 |    1 +
 ...1_1matchSimilar_1_1SIFTCV__coll__graph.png |  Bin 0 -> 2974 bytes
 ...matchSimilar_1_1SIFTCV__inherit__graph.map |    2 +
 ...matchSimilar_1_1SIFTCV__inherit__graph.md5 |    1 +
 ...matchSimilar_1_1SIFTCV__inherit__graph.png |  Bin 0 -> 2974 bytes
 ...es_1_1matcher_1_1CfgDifferent-members.html |   84 +
 ..._1_1pieces_1_1matcher_1_1CfgDifferent.html |  223 ++
 ..._1matcher_1_1CfgDifferent__coll__graph.map |    4 +
 ..._1matcher_1_1CfgDifferent__coll__graph.md5 |    1 +
 ..._1matcher_1_1CfgDifferent__coll__graph.png |  Bin 0 -> 6090 bytes
 ...atcher_1_1CfgDifferent__inherit__graph.map |    8 +
 ...atcher_1_1CfgDifferent__inherit__graph.md5 |    1 +
 ...atcher_1_1CfgDifferent__inherit__graph.png |  Bin 0 -> 15450 bytes
 ...eces_1_1matcher_1_1CfgMatcher-members.html |   84 +
 ...le_1_1pieces_1_1matcher_1_1CfgMatcher.html |  215 ++
 ..._1_1matcher_1_1CfgMatcher__coll__graph.map |    3 +
 ..._1_1matcher_1_1CfgMatcher__coll__graph.md5 |    1 +
 ..._1_1matcher_1_1CfgMatcher__coll__graph.png |  Bin 0 -> 5379 bytes
 ...1matcher_1_1CfgMatcher__inherit__graph.map |    9 +
 ...1matcher_1_1CfgMatcher__inherit__graph.md5 |    1 +
 ...1matcher_1_1CfgMatcher__inherit__graph.png |  Bin 0 -> 16999 bytes
 ...eces_1_1matcher_1_1CfgSimilar-members.html |   84 +
 ...le_1_1pieces_1_1matcher_1_1CfgSimilar.html |  219 ++
 ..._1_1matcher_1_1CfgSimilar__coll__graph.map |    4 +
 ..._1_1matcher_1_1CfgSimilar__coll__graph.md5 |    1 +
 ..._1_1matcher_1_1CfgSimilar__coll__graph.png |  Bin 0 -> 6206 bytes
 ...1matcher_1_1CfgSimilar__inherit__graph.map |    4 +
 ...1matcher_1_1CfgSimilar__inherit__graph.md5 |    1 +
 ...1matcher_1_1CfgSimilar__inherit__graph.png |  Bin 0 -> 6206 bytes
 ..._1_1matcher_1_1MatchDifferent-members.html |   86 +
 ..._1pieces_1_1matcher_1_1MatchDifferent.html |  222 ++
 ...matcher_1_1MatchDifferent__coll__graph.map |    3 +
 ...matcher_1_1MatchDifferent__coll__graph.md5 |    1 +
 ...matcher_1_1MatchDifferent__coll__graph.png |  Bin 0 -> 3302 bytes
 ...cher_1_1MatchDifferent__inherit__graph.map |    8 +
 ...cher_1_1MatchDifferent__inherit__graph.md5 |    1 +
 ...cher_1_1MatchDifferent__inherit__graph.png |  Bin 0 -> 12608 bytes
 ...es_1_1matcher_1_1MatchSimilar-members.html |   86 +
 ..._1_1pieces_1_1matcher_1_1MatchSimilar.html |  201 ++
 ..._1matcher_1_1MatchSimilar__coll__graph.map |    3 +
 ..._1matcher_1_1MatchSimilar__coll__graph.md5 |    1 +
 ..._1matcher_1_1MatchSimilar__coll__graph.png |  Bin 0 -> 2925 bytes
 ...atcher_1_1MatchSimilar__inherit__graph.map |    4 +
 ...atcher_1_1MatchSimilar__inherit__graph.md5 |    1 +
 ...atcher_1_1MatchSimilar__inherit__graph.png |  Bin 0 -> 4363 bytes
 ...1pieces_1_1matcher_1_1Matcher-members.html |   86 +
 ...uzzle_1_1pieces_1_1matcher_1_1Matcher.html |  301 ++
 ..._1_1matcher_1_1Matcher__inherit__graph.map |   10 +
 ..._1_1matcher_1_1Matcher__inherit__graph.md5 |    1 +
 ..._1_1matcher_1_1Matcher__inherit__graph.png |  Bin 0 -> 17021 bytes
 ...zle_1_1pieces_1_1sift_1_1Sift-members.html |   90 +
 ...classpuzzle_1_1pieces_1_1sift_1_1Sift.html |  355 ++
 ...1_1pieces_1_1sift_1_1Sift__coll__graph.map |    4 +
 ...1_1pieces_1_1sift_1_1Sift__coll__graph.md5 |    1 +
 ...1_1pieces_1_1sift_1_1Sift__coll__graph.png |  Bin 0 -> 4358 bytes
 ...pieces_1_1sift_1_1Sift__inherit__graph.map |    4 +
 ...pieces_1_1sift_1_1Sift__inherit__graph.md5 |    1 +
 ...pieces_1_1sift_1_1Sift__inherit__graph.png |  Bin 0 -> 4358 bytes
 ...1_1runnerROS_1_1RealSolverROS-members.html |  115 +
 ...spuzzle_1_1runnerROS_1_1RealSolverROS.html |  423 +++
 ...unnerROS_1_1RealSolverROS__coll__graph.map |    3 +
 ...unnerROS_1_1RealSolverROS__coll__graph.md5 |    1 +
 ...unnerROS_1_1RealSolverROS__coll__graph.png |  Bin 0 -> 3480 bytes
 ...erROS_1_1RealSolverROS__inherit__graph.map |    3 +
 ...erROS_1_1RealSolverROS__inherit__graph.md5 |    1 +
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 ...zzle_1_1runner_1_1ParamRunner-members.html |   87 +
 .../classpuzzle_1_1runner_1_1ParamRunner.html |  252 ++
 ..._1_1runner_1_1ParamRunner__coll__graph.map |    3 +
 ..._1_1runner_1_1ParamRunner__coll__graph.md5 |    1 +
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 ...1runner_1_1ParamRunner__inherit__graph.map |    3 +
 ...1runner_1_1ParamRunner__inherit__graph.md5 |    1 +
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 ...uzzle_1_1runner_1_1RealSolver-members.html |  104 +
 docs/classpuzzle_1_1runner_1_1RealSolver.html |  685 ++++
 ..._1runner_1_1RealSolver__inherit__graph.map |    3 +
 ..._1runner_1_1RealSolver__inherit__graph.md5 |    1 +
 ..._1runner_1_1RealSolver__inherit__graph.png |  Bin 0 -> 3437 bytes
 ...imulator_1_1action_1_1Actions-members.html |   90 +
 ...zle_1_1simulator_1_1action_1_1Actions.html |  314 ++
 ..._1simulator_1_1basic_1_1Basic-members.html |   99 +
 ...puzzle_1_1simulator_1_1basic_1_1Basic.html |  694 ++++
 ...ator_1_1basic_1_1Basic__inherit__graph.map |    4 +
 ...ator_1_1basic_1_1Basic__inherit__graph.md5 |    1 +
 ...ator_1_1basic_1_1Basic__inherit__graph.png |  Bin 0 -> 4173 bytes
 ...ulator_1_1basic_1_1ParamBasic-members.html |   82 +
 ...e_1_1simulator_1_1basic_1_1ParamBasic.html |  122 +
 ...1_1basic_1_1ParamBasic__inherit__graph.map |    4 +
 ...1_1basic_1_1ParamBasic__inherit__graph.md5 |    1 +
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 ..._1_1simulator_1_1hand_1_1Hand-members.html |   98 +
 ...sspuzzle_1_1simulator_1_1hand_1_1Hand.html |  629 ++++
 ...imulator_1_1hand_1_1ParamHand-members.html |   82 +
 ...zle_1_1simulator_1_1hand_1_1ParamHand.html |  113 +
 ...1_1plannerHand_1_1PlannerHand-members.html |   96 +
 ...mulator_1_1plannerHand_1_1PlannerHand.html |  250 ++
 ...lannerHand_1_1PlannerHand__coll__graph.map |    3 +
 ...lannerHand_1_1PlannerHand__coll__graph.md5 |    1 +
 ...lannerHand_1_1PlannerHand__coll__graph.png |  Bin 0 -> 2314 bytes
 ...nerHand_1_1PlannerHand__inherit__graph.map |    3 +
 ...nerHand_1_1PlannerHand__inherit__graph.md5 |    1 +
 ...nerHand_1_1PlannerHand__inherit__graph.png |  Bin 0 -> 2314 bytes
 ...or_1_1planner_1_1ParamPlanner-members.html |   82 +
 ...1simulator_1_1planner_1_1ParamPlanner.html |  126 +
 ..._1planner_1_1ParamPlanner__coll__graph.map |    2 +
 ..._1planner_1_1ParamPlanner__coll__graph.md5 |    1 +
 ..._1planner_1_1ParamPlanner__coll__graph.png |  Bin 0 -> 2893 bytes
 ...lanner_1_1ParamPlanner__inherit__graph.map |    3 +
 ...lanner_1_1ParamPlanner__inherit__graph.md5 |    1 +
 ...lanner_1_1ParamPlanner__inherit__graph.png |  Bin 0 -> 4539 bytes
 ...mulator_1_1planner_1_1Planner-members.html |   94 +
 ...le_1_1simulator_1_1planner_1_1Planner.html |  545 +++
 ..._1_1planner_1_1Planner__inherit__graph.map |    3 +
 ..._1_1planner_1_1Planner__inherit__graph.md5 |    1 +
 ..._1_1planner_1_1Planner__inherit__graph.png |  Bin 0 -> 2317 bytes
 ...mulator_1_1planner_1_1bcolors-members.html |   90 +
 ...le_1_1simulator_1_1planner_1_1bcolors.html |  305 ++
 ...mulator_1_1simTime_1_1ParamST-members.html |   84 +
 ...le_1_1simulator_1_1simTime_1_1ParamST.html |  163 +
 ...tor_1_1simTime_1_1ParamST__coll__graph.map |    4 +
 ...tor_1_1simTime_1_1ParamST__coll__graph.md5 |    1 +
 ...tor_1_1simTime_1_1ParamST__coll__graph.png |  Bin 0 -> 4273 bytes
 ..._1_1simTime_1_1ParamST__inherit__graph.map |    4 +
 ..._1_1simTime_1_1ParamST__inherit__graph.md5 |    1 +
 ..._1_1simTime_1_1ParamST__inherit__graph.png |  Bin 0 -> 4273 bytes
 ...mulator_1_1simTime_1_1SimTime-members.html |  117 +
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-<tr id="row_15_3_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="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html" target="_self">RegionGrower_ValDiff</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_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="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html" target="_self">RG_Params</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_3_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_3_3_" class="arrow" onclick="toggleFolder('15_3_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1utils_1_1specifications.html" target="_self">specifications</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_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_1utils_1_1specifications_1_1dict2struct.html" target="_self">dict2struct</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_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_1utils_1_1specifications_1_1specifications.html" target="_self">specifications</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_4_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_3_4_" class="arrow" onclick="toggleFolder('15_3_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1utils_1_1transform.html" target="_self">transform</a></td><td class="desc"></td></tr>
-<tr id="row_15_3_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_1utils_1_1transform_1_1frameTransformer.html" target="_self">frameTransformer</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="namespacetrackpointer.html" target="_self">trackpointer</a></td><td class="desc"></td></tr>
-<tr id="row_16_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_0_" class="arrow" onclick="toggleFolder('16_0_')">&#9658;</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>
-<tr id="row_16_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="classtrackpointer_1_1centroid_1_1centroid.html" target="_self">centroid</a></td><td class="desc"></td></tr>
-<tr id="row_16_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="classtrackpointer_1_1centroid_1_1CfgCentroid.html" target="_self">CfgCentroid</a></td><td class="desc"></td></tr>
-<tr id="row_16_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="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_16_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="classtrackpointer_1_1centroid_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
-<tr id="row_16_1_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_1_" class="arrow" onclick="toggleFolder('16_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1centroidMulti.html" target="_self">centroidMulti</a></td><td class="desc"></td></tr>
-<tr id="row_16_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="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html" target="_self">centroidMulti</a></td><td class="desc"></td></tr>
-<tr id="row_16_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_16_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_2_" class="arrow" onclick="toggleFolder('16_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_16_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_16_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_16_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_16_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_3_" class="arrow" onclick="toggleFolder('16_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_16_3_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_16_3_0_" class="arrow" onclick="toggleFolder('16_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_16_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_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="namespacetriggers.html" target="_self">triggers</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">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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_17_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_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_1runnerROS.html" target="_self">runnerROS</a></td><td class="desc"></td></tr>
+<tr id="row_13_9_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_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_1simulator.html" target="_self">simulator</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_0_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_0_" class="arrow" onclick="toggleFolder('13_10_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_10_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_10_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_1_" class="arrow" onclick="toggleFolder('13_10_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_10_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_10_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>
+<tr id="row_13_10_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_2_" class="arrow" onclick="toggleFolder('13_10_2_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1hand.html" target="_self">hand</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_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_1simulator_1_1hand_1_1Hand.html" target="_self">Hand</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_2_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_1hand_1_1ParamHand.html" target="_self">ParamHand</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_3_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_3_" class="arrow" onclick="toggleFolder('13_10_3_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1planner.html" target="_self">planner</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_3_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_1planner_1_1bcolors.html" target="_self">bcolors</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_3_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_1planner_1_1ParamPlanner.html" target="_self">ParamPlanner</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_3_2_" 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_1planner_1_1Planner.html" target="_self">Planner</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_4_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_4_" class="arrow" onclick="toggleFolder('13_10_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1plannerHand.html" target="_self">plannerHand</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_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>
+<tr id="row_13_10_5_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_5_" class="arrow" onclick="toggleFolder('13_10_5_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1simTime.html" target="_self">simTime</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_5_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_1simTime_1_1ParamST.html" target="_self">ParamST</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_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>
+<tr id="row_13_10_6_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_10_6_" class="arrow" onclick="toggleFolder('13_10_6_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacepuzzle_1_1simulator_1_1simTimeless.html" target="_self">simTimeless</a></td><td class="desc"></td></tr>
+<tr id="row_13_10_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_10_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_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_1solver.html" target="_self">solver</a></td><td class="desc"></td></tr>
+<tr id="row_13_11_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_13_11_0_" class="arrow" onclick="toggleFolder('13_11_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_11_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>
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+<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>
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+<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>
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+<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>
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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>
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+<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>
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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>
+<tr id="row_15_2_13_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_1tabletop__seg_1_1tabletop__GMM.html" target="_self">tabletop_GMM</a></td><td class="desc"></td></tr>
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+<tr id="row_15_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="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html" target="_self">HeightEstimator</a></td><td class="desc"></td></tr>
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+<tr id="row_15_3_2_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_1utils_1_1region__grow_1_1RegionGrower__base.html" target="_self">RegionGrower_base</a></td><td class="desc"></td></tr>
+<tr id="row_15_3_2_2_" 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_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html" target="_self">RegionGrower_ValDiff</a></td><td class="desc"></td></tr>
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+<tr id="row_15_3_3_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_1utils_1_1specifications_1_1specifications.html" target="_self">specifications</a></td><td class="desc"></td></tr>
+<tr id="row_15_3_4_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_15_3_4_" class="arrow" onclick="toggleFolder('15_3_4_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespaceSurveillance_1_1utils_1_1transform.html" target="_self">transform</a></td><td class="desc"></td></tr>
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+<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="namespacetrackpointer.html" target="_self">trackpointer</a></td><td class="desc"></td></tr>
+<tr id="row_16_0_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_0_" class="arrow" onclick="toggleFolder('16_0_')">&#9658;</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>
+<tr id="row_16_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="classtrackpointer_1_1centroid_1_1centroid.html" target="_self">centroid</a></td><td class="desc"></td></tr>
+<tr id="row_16_0_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_1centroid_1_1CfgCentroid.html" target="_self">CfgCentroid</a></td><td class="desc"></td></tr>
+<tr id="row_16_0_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="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_16_0_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="classtrackpointer_1_1centroid_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
+<tr id="row_16_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_1_" class="arrow" onclick="toggleFolder('16_1_')">&#9658;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacetrackpointer_1_1centroidMulti.html" target="_self">centroidMulti</a></td><td class="desc"></td></tr>
+<tr id="row_16_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="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html" target="_self">centroidMulti</a></td><td class="desc"></td></tr>
+<tr id="row_16_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="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_16_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_2_" class="arrow" onclick="toggleFolder('16_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_16_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="classtrackpointer_1_1toplines_1_1fromBottom.html" target="_self">fromBottom</a></td><td class="desc"></td></tr>
+<tr id="row_16_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">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1fromTop.html" target="_self">fromTop</a></td><td class="desc"></td></tr>
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+<tr id="row_16_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_16_3_" class="arrow" onclick="toggleFolder('16_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_16_3_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_16_3_0_" class="arrow" onclick="toggleFolder('16_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>
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+<tr id="row_17_"><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="namespacetriggers.html" target="_self">triggers</a></td><td class="desc"></td></tr>
+<tr id="row_17_0_" 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_1Always.html" target="_self">Always</a></td><td class="desc">Class that always triggers a report </td></tr>
+<tr id="row_17_1_"><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_17_2_" 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_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_17_3_"><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_17_4_" 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_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_17_5_"><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_17_6_" 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_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_17_7_"><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_17_8_" 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_1Trigger.html" target="_self">Trigger</a></td><td class="desc">Base/abstract trigger class </td></tr>
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+<tr id="row_17_10_" 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_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_17_11_"><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_17_12_" 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_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>
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diff --git a/docs/arrangement_8py.html b/docs/arrangement_8py.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: /home/pvela/python/puzzle_solver/puzzle/builder/arrangement.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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<iframe src="javascript:void(0)" frameborder="0" 
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+</iframe>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_577b79aa997aea6169c72f94892281b5.html">puzzle_solver</a></li><li class="navelem"><a class="el" href="dir_d8c21d96ce4f65af7ad58850847ff291.html">puzzle</a></li><li class="navelem"><a class="el" href="dir_c05e674f04cf2487b8c488e1564d6d15.html">builder</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle">
+<div class="title">arrangement.py File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configuration setting specifier for centroidMulti.  <a href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="namespaces"></a>
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+<tr class="memitem:namespacepuzzle_1_1builder_1_1arrangement"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">puzzle.builder.arrangement</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+</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> 1.8.13
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diff --git a/docs/autotoc_md39.html b/docs/autotoc_md39.html
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--- /dev/null
+++ b/docs/autotoc_md39.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: puzzle_solver</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">puzzle_solver </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Shape-based puzzle solving algorithms, including shape matching and rotation matching</p>
+<div class="fragment"><div class="line">git clone git@github.com:ivapylibs/puzzle_solver.git</div><div class="line">pip3 install -e puzzle_solver/</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>
+<p>This repo is also backed up by several other libraries from our group:</p>
+<div class="fragment"><div class="line">git clone git@github.com:ivapylibs/trackpointer.git</div><div class="line">pip3 install -e trackpointer/</div><div class="line">git clone git@github.com:ivapylibs/detector.git</div><div class="line">pip3 install -e detector/</div><div class="line">git clone git@github.com:ivapylibs/improcessor.git</div><div class="line">pip3 install -e improcessor/</div><div class="line">git clone git@github.com:ivapylibs/Lie.git</div><div class="line">pip3 install -e Lie/</div><div class="line">git clone git@github.com:ADCLab/puzzleSolvers.git</div><div class="line">pip3 install -e puzzleSolvers/</div></div><!-- fragment --><p>Requires the installation of the following python packages:</p>
+<ul>
+<li><code>numpy</code></li>
+<li><code>matplotlib</code></li>
+<li><code>scipy&gt;=1.8.1</code></li>
+<li><code>scikit-learn</code></li>
+<li><code>scikit-image</code></li>
+<li><code>opencv-contrib-python</code></li>
+<li><code>similaritymeasures</code></li>
+<li><code>pygame</code></li>
+<li><code>pip install rospy-message-converter</code> </li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Surveillance</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div class="title"><a class="el" href="namespaceSurveillance.html">Surveillance</a> </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>The surveillance system for SuperviseIt project. The objective of the surveillance system is to keep track of the puzzle player's hand, the robotic arm, and the puzzle workspace. Segmentation of the robotic arm is not for tracking purposes, but for ignoring that area and knowing that it visually occludes the puzzle workspace. The robotic arm is under control, thus its state is known. In principle, the surveillance system collects the data generated by a perceiver and farms it off for additional processing. It's design can be monolithic, in which case all of the code is contained within the surveillance class. This case is most compatible with a traditionally coded and executed system. It can also be federated, in which case the manages the flow of information to asynchronously run processes. Federated implementations are more compatible with ROS-type implementation that coordinate information flow and processing through the use of topics.</p>
+<p>The modules associated to this surveillance system are:</p>
+<ul>
+<li>Layered segmentation system<ul>
+<li>Extracts puzzle player's hand.</li>
+<li>Extracts robot arm.</li>
+<li>Extracts puzzle pieces on the workspace.</li>
+<li>Everything else that remains is the workspace background layer.</li>
+</ul>
+</li>
+<li>Hand tracker and action parsing<ul>
+<li>Returns action-oriented track point for the hand.</li>
+<li>Processing track point signal to assign action labels.</li>
+</ul>
+</li>
+<li>Robot removal and action state<ul>
+<li>Extraction of robot region from processing/parsing.</li>
+<li>Take given robot commands and converts to action label as needed.</li>
+</ul>
+</li>
+<li>Activity analysis<ul>
+<li>Post-process hand, robot, and puzzle action states to infer activity.</li>
+<li>This is activty of the player (hand) and impact on puzzle.</li>
+<li>Includes a progress monitor for the puzzle (obtained from solver).</li>
+</ul>
+</li>
+<li>Puzzle board and solver<ul>
+<li>Sub-system that keeps track of the puzzle pieces and their locations. Maintains status of which are visible and which are not visible (in principle, these would be two distinct layers, but might be partitioned using state flags instead of disjoint lists.</li>
+<li>A solution board can exist for the puzzle pieces. In this case, there is a data association module connecting puzzle pieces to their intended solution state.</li>
+<li>Can contain a planning module that generates solution actions for completing the puzzle from an initial incomplete state.</li>
+</ul>
+</li>
+</ul>
+<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>
+<li><a href="https://github.com/ivapylibs/improcessor">improcessor</a></li>
+<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 class="el" href="namespaceSurveillance.html">Surveillance</a> (this repo)</li>
+<li><a href="https://github.com/ivapylibs/puzzle_solver">puzzle_solver</a></li>
+<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 --></li>
+</ul>
+<p>Unit test for the individual modules. For more details, refer to README.</p>
+<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>
+<p>04/22/2022 Meeting with the Dr. Adan Vela:</p>
+<ul>
+<li>[x] Verify that the recording <code>ActualTestRecording.bag</code> is good.</li>
+<li>[x] Shutdown the visualization of the calibration process when start the recording from the exist calibration file.</li>
+<li>[x] Add another script that convert the rosbag file to the video file for the verification of the recording process. </li>
+</ul>
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+<title>IVALab Python Libraries: Recorder instructions</title>
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+   <div id="projectname">IVALab Python Libraries
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+<div class="title">Recorder instructions </div>  </div>
+</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>
+<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>
+<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 --><p>Record both the system calibration data and the test-time rgb and depth data.</p>
+<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></div><!-- fragment --><p>Where the <code>--save_dir</code> accepts the destination folder to save the recorded data. If omitted, the default will be <code>./</code>(the same folder as the recorder script.)</p>
+<p>The recorder will save a bag file with the date appended: <code>data_{RECORDING_DATE_AND_TIME}.bag</code> . <b>Please use <code>ls</code> to check the data name, and compress it using the following commands (with the <code>{RECORDING_DATE_AND_TIME}</code> replaced by the actual one</b>. Without compression the data size will be large:</p>
+<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>
+<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>
+<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 --><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>
+<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></div><!-- fragment --><p>It will save the video in the save folder as the rosbag, with the same file name, but with a different extension. For the above example, the saved video will be as <code>PATH/TO/ROSBAG/NAME.avi</code>.</p>
+<p>The script will by default "watch" the recording simultaneously when converting to the video. To disable the playback, use the <code>--no_vis</code> option:</p>
+<div class="fragment"><div class="line">python rosbag_to_avi.py PATH/TO/ROSBAG/NAME.bag --no_vis</div></div><!-- fragment --> </div></div><!-- contents -->
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity.html">activity</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity_1_1base.html">base</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1activity_1_1base_1_1Base-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
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+<tr class="memitem:ae64f0875afe3067b97ba370b354b9213"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">__init__</a> (self)</td></tr>
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+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
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+<a id="ae64f0875afe3067b97ba370b354b9213"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae64f0875afe3067b97ba370b354b9213">&#9670;&nbsp;</a></span>__init__()</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
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+<div class="memitem">
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac0e04a6d0292eed0154740ef0ed44772"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0e04a6d0292eed0154740ef0ed44772">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Process the new income signal
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9336ebf25087d91c818ee6e9ec29f8c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9336ebf25087d91c818ee6e9ec29f8c1">&#9670;&nbsp;</a></span>x</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">x</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/activity/<a class="el" href="Surveillance_2Surveillance_2activity_2base_8py.html">base.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Member List</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Base_state Member List</div>  </div>
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+<div class="contents">
+
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+<tr class="separator:abb19d29292d31f9f00cbe238ed5bd750"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The base class for the human state estimator.
+
+@param[in]  signal_number               how many signals will be used as input
+@param[in]  state_number                how many states will be estimated
+
+@param[in]  signal_cache_limit            How many previous signals to be stored. Default:1000
+@param[in]  state_cache_limit             How many previous states to be stored. Default:1000
+
+@param[in]  signal_names                A list of signal names. If empty then will assign signal_1, signal_2, ...
+@param[in]  state_names                 A list of state names. If empty then will assign state_1, state_2, ...
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a586ff62eb2ce0b6cb7d93bf191044a4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a586ff62eb2ce0b6cb7d93bf191044a4a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_names</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_names</em> = <code>[]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab4dea73d1d875356d9cdde9ade8dd32e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4dea73d1d875356d9cdde9ade8dd32e">&#9670;&nbsp;</a></span>get_states()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_states </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the latest state.
+
+Returns:
+    latest_state (binary, (N_state, )).         The last binary states. N_states is the number of the state
+</pre> 
+</div>
+</div>
+<a id="a8927dcb8535cdc3776e3d4a5eb5abcaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8927dcb8535cdc3776e3d4a5eb5abcaf">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9858f5e1a6c6dc57d33624584fd9886e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9858f5e1a6c6dc57d33624584fd9886e">&#9670;&nbsp;</a></span>parse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the state out of the signals. Return the states
+</pre> 
+</div>
+</div>
+<a id="a1eec535b9845bd66901c9157c5b58978"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1eec535b9845bd66901c9157c5b58978">&#9670;&nbsp;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_states</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update the cache states with new ones
+</pre> 
+</div>
+</div>
+<a id="a751babe7c132b73be1c74543a2ca0589"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a751babe7c132b73be1c74543a2ca0589">&#9670;&nbsp;</a></span>visualize_state_evolving()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def visualize_state_evolving </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Monitor the state process by plotting a line chart using the plt.
+Will only display the cached states, which is the latest state_cache_limit states
+
+@param[in] fh                   The figure handle. Default is None. When set to None then a new figure will be created
+                        Note that the fh will be stored at the first time being used, and all future drawing will be on that figure
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a88dfdf23780898e0a861e80bd6f1ef3f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88dfdf23780898e0a861e80bd6f1ef3f">&#9670;&nbsp;</a></span>f_idx</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">f_idx</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa1c8a34591407230f3ffaa4619e4da18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1c8a34591407230f3ffaa4619e4da18">&#9670;&nbsp;</a></span>signal_cache_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">signal_cache_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a28314c9c0ccf3c398d8fd10022082a90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28314c9c0ccf3c398d8fd10022082a90">&#9670;&nbsp;</a></span>signal_cache_limit</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">signal_cache_limit</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a21f8389463617321cd3dfa303300f977"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21f8389463617321cd3dfa303300f977">&#9670;&nbsp;</a></span>signal_names</h2>
+
+<div class="memitem">
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+<h2 class="memtitle"><span class="permalink"><a href="#a0184e72a47375fc9ba1f5dcf26168b06">&#9670;&nbsp;</a></span>signal_number</h2>
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+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">signal_number</td>
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+</div>
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+<a id="a5aebb28daf3ecb5d12dc80dccf607a33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5aebb28daf3ecb5d12dc80dccf607a33">&#9670;&nbsp;</a></span>signals_cache</h2>
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+          <td class="memname">signals_cache</td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5b37c3f18dcec9a4fa733cd6950cf203"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b37c3f18dcec9a4fa733cd6950cf203">&#9670;&nbsp;</a></span>state_cache_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">state_cache_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2c2e6c19ea5d524edc2f5ceafec04505"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2c2e6c19ea5d524edc2f5ceafec04505">&#9670;&nbsp;</a></span>state_cache_limit</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">state_cache_limit</td>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a2ed7b3e356be3f0649646fc5d99a1b99">&#9670;&nbsp;</a></span>state_names</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">state_names</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a20c4cdd5da2a6996269a0a0773c4fd8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c4cdd5da2a6996269a0a0773c4fd8e">&#9670;&nbsp;</a></span>state_number</h2>
+
+<div class="memitem">
+<div class="memproto">
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+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#abb19d29292d31f9f00cbe238ed5bd750">&#9670;&nbsp;</a></span>states_cache</h2>
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+          <td class="memname">states_cache</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/activity/<a class="el" href="state_8py.html">state.py</a></li>
+</ul>
+</div><!-- contents -->
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+<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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator-members.html b/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator-members.html
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+++ b/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity.html">activity</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity_1_1state.html">state</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">StateEstimator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8b207dd83e3d796849e21c9cefa9a1f4">__init__</a>(self, signal_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_number=3, state_names=[&quot;Move&quot;, Progress_Made, Puzzle_in_Hand, move_th=2, hand_track_color=[255, state_text_color=[255)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a586ff62eb2ce0b6cb7d93bf191044a4a">Surveillance::activity::state::Base_state.__init__</a>(self, signal_number, state_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_names=[])</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">Surveillance::activity::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">f_idx</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#ab4dea73d1d875356d9cdde9ade8dd32e">get_states</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a755db67058f57a4cfb7e3c493e748d">hand_track_color</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a8927dcb8535cdc3776e3d4a5eb5abcaf">measure</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">move_th</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a143c53005fa478af7910376b2e108961">parse</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a450bf2386a831696ea47dc70bb55a69c">parse_move</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a7474e580725ee053a48612793e1253">parse_PinH</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae7646cb1c3ffdc05383c5f3e8329d5bd">parse_progress</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae0498ceb65c213e746f4b5dc95ef562b">plot_states</a>(self, rgb)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa1c8a34591407230f3ffaa4619e4da18">signal_cache_count</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a28314c9c0ccf3c398d8fd10022082a90">signal_cache_limit</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a21f8389463617321cd3dfa303300f977">signal_names</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a0184e72a47375fc9ba1f5dcf26168b06">signal_number</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">signals_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2c2e6c19ea5d524edc2f5ceafec04505">state_cache_limit</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2ed7b3e356be3f0649646fc5d99a1b99">state_names</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a20c4cdd5da2a6996269a0a0773c4fd8e">state_number</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a3c11a98e3678a788489657b0c949b224">state_text_color</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#abb19d29292d31f9f00cbe238ed5bd750">states_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a1eec535b9845bd66901c9157c5b58978">update</a>(self, cur_signals, cur_states)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ab89d735316a9c5c52428507f40f6394c">visualize</a>(self, rgb, ratio=0.5, window_name=&quot;States&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a751babe7c132b73be1c74543a2ca0589">visualize_state_evolving</a>(self, fh=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator.html b/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator.html
new file mode 100644
index 00000000..8102a19d
--- /dev/null
+++ b/docs/classSurveillance_1_1activity_1_1state_1_1StateEstimator.html
@@ -0,0 +1,533 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: StateEstimator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity.html">activity</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity_1_1state.html">state</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1activity_1_1state_1_1StateEstimator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">StateEstimator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for StateEstimator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1activity_1_1state_1_1StateEstimator__inherit__graph.png" border="0" usemap="#StateEstimator_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" id="node3" href="classSurveillance_1_1activity_1_1base_1_1Base.html" title="Base" alt="" coords="34,80,86,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for StateEstimator:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
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+<tr class="inherit_header pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The State Estimator v1.0
+
+Fix to estimate three binary states: Move, Make_Puzzle_Progress, Puzzle_in_hand.
+The signal used for the state estimation is:
+    1. The hand location,
+    2. The puzzle solving progress (percentage)
+    3. Piece in hand 
+For now allow customization for the signals and the states used for the development purpose
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8b207dd83e3d796849e21c9cefa9a1f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b207dd83e3d796849e21c9cefa9a1f4">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_names</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_number</em> = <code>3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_names</em> = <code>[&quot;Move&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>Progress_Made</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>Puzzle_in_Hand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>move_th</em> = <code>2</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hand_track_color</em> = <code>[255</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_text_color</em> = <code>[255</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a143c53005fa478af7910376b2e108961"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a143c53005fa478af7910376b2e108961">&#9670;&nbsp;</a></span>parse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a450bf2386a831696ea47dc70bb55a69c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a450bf2386a831696ea47dc70bb55a69c">&#9670;&nbsp;</a></span>parse_move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the moving state
+</pre> 
+</div>
+</div>
+<a id="a8a7474e580725ee053a48612793e1253"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a7474e580725ee053a48612793e1253">&#9670;&nbsp;</a></span>parse_PinH()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_PinH </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse whether the puzzle-in-hand state, which is a binary indicator whether the hand is holding a puzzle piece or not
+</pre> 
+</div>
+</div>
+<a id="ae7646cb1c3ffdc05383c5f3e8329d5bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7646cb1c3ffdc05383c5f3e8329d5bd">&#9670;&nbsp;</a></span>parse_progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the progress state, which is a binary indicator of whether the puzzle solving is making progress or not
+</pre> 
+</div>
+</div>
+<a id="ae0498ceb65c213e746f4b5dc95ef562b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0498ceb65c213e746f4b5dc95ef562b">&#9670;&nbsp;</a></span>plot_states()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def plot_states </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab89d735316a9c5c52428507f40f6394c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab89d735316a9c5c52428507f40f6394c">&#9670;&nbsp;</a></span>visualize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def visualize </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;States&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the state process on the image data with the necessary facilitative plots
+
+The state will be displayed on the top left corner of the frame.
+For the facilitative plots,
+    (1) the hand tracker and the recent trajectory will be plotted
+
+Args:
+    rgb (array, (H, W, 3)):         The RGB image on which to display the states and drawing
+    ratio (float, ):                The scaling ratio for the display
+    window_name (str):              The window name for the display
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8a755db67058f57a4cfb7e3c493e748d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a755db67058f57a4cfb7e3c493e748d">&#9670;&nbsp;</a></span>hand_track_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand_track_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2afa75db8a8d05d8e43d2a6e0bf2ee7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">&#9670;&nbsp;</a></span>move_th</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">move_th</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa1c8a34591407230f3ffaa4619e4da18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1c8a34591407230f3ffaa4619e4da18">&#9670;&nbsp;</a></span>signal_cache_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">signal_cache_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3c11a98e3678a788489657b0c949b224"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c11a98e3678a788489657b0c949b224">&#9670;&nbsp;</a></span>state_text_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">state_text_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/activity/<a class="el" href="state_8py.html">state.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html">Base</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">BaseSurveillanceDeploy Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a6a4d4e9a935ecaf49fc2456969541733"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a6a4d4e9a935ecaf49fc2456969541733">visualize</a></td></tr>
+<tr class="separator:a6a4d4e9a935ecaf49fc2456969541733"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief    Constructor for BaseSurveillanceDeploy class.
+    
+The Base class for deploying the Surveillance system.
+It defines the default parameters, encompasses the calibration
+process, and defines the API for further development.
+
+@param[in]  imgSource       (callable) image source stream(s).
+@param[in]  intrinsic       camera intrinsic parameters.
+@param[in]  scene_interp    Scene interpreter instance.
+@param[in]  M_WtoC          (optional) world to camera extrinsic.
+@param[in]  M_WtoR          (optional) world to robot.
+@param[in]  params          (optional) parameters structure.
+
+Regarding the arguments,
+
+imgSource (Callable): The image source(s) that can get the camera
+  data in the following style (where status is a binary indicating
+  whether the camera data is fetched successfully): 
+
+  &gt; rgb, dep, status = imgSource()
+
+  Can pass None, which will disable the run API that deploy the
+  system on the connected camera.
+
+  The parameter instance params default to Params() if not provided.</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imgSource</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsic</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scene_interpreter</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a110fa42ddb30541ae15c3a6147bdf3ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a110fa42ddb30541ae15c3a6147bdf3ba">&#9670;&nbsp;</a></span>build()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def build </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a208a854c0e009091906a4203a804e97e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a208a854c0e009091906a4203a804e97e">&#9670;&nbsp;</a></span>buildFromRosbag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromRosbag </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a565ab78807421d9d9bd2f24d90840ad0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a565ab78807421d9d9bd2f24d90840ad0">&#9670;&nbsp;</a></span>buildPub()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildPub </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0d5906ea66dea1bea82847c1c21b8a0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d5906ea66dea1bea82847c1c21b8a0b">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">get the measure board
+
+return the measure board mask and the measure board img
+</pre> 
+</div>
+</div>
+<a id="a26f5316a06d27c357a696627987cfb15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26f5316a06d27c357a696627987cfb15">&#9670;&nbsp;</a></span>postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite to put any pose process that is built on top of the scene interpreter her
+
+Args:
+    rgb (_type_): _description_
+    dep (_type_): _description_
+</pre> 
+</div>
+</div>
+<a id="a156ea13bc449d3f40b4c6772ccb3308c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a156ea13bc449d3f40b4c6772ccb3308c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle_postprocess</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e41e2d032b988fb4900169e014a99a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e41e2d032b988fb4900169e014a99a1">&#9670;&nbsp;</a></span>publish_activity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def publish_activity </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>char</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5dddbd1fc374295d2dde19668c501a91"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5dddbd1fc374295d2dde19668c501a91">&#9670;&nbsp;</a></span>publish_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def publish_data </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad22709b2e67308af35f55680d5a026e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad22709b2e67308af35f55680d5a026e0">&#9670;&nbsp;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def run </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0848a525e23f9e10289ab7a6eeca2078"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0848a525e23f9e10289ab7a6eeca2078">&#9670;&nbsp;</a></span>save_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def save_data </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9943b4e5a95a4484307697f222afb386"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9943b4e5a95a4484307697f222afb386">&#9670;&nbsp;</a></span>vis()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4011d7c5165981a73f2bf338cd832df3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4011d7c5165981a73f2bf338cd832df3">&#9670;&nbsp;</a></span>vis_input()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_input </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Visualize the input.
+
+Args:
+    rgb: The rgb image.
+    dep: The depth image.
+</pre> 
+</div>
+</div>
+<a id="a1203240d3543fdf27b5c9c13b96c28db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1203240d3543fdf27b5c9c13b96c28db">&#9670;&nbsp;</a></span>vis_near_hand_puzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_near_hand_puzzles </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@ brief Visualize the puzzle pices location near the hand.
+</pre> 
+</div>
+</div>
+<a id="a4073583dad3e80815b4ba3d0554d7389"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4073583dad3e80815b4ba3d0554d7389">&#9670;&nbsp;</a></span>vis_results()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_results </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite to put any result-related visualization in this function.
+Note: Maybe it is better to put the visualization function here.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a05142afe49d12fb1fe7a1f95e3f3b8fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05142afe49d12fb1fe7a1f95e3f3b8fe">&#9670;&nbsp;</a></span>act_codebook</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_codebook</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af558571ee29f0d02c125630113929fc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af558571ee29f0d02c125630113929fc5">&#9670;&nbsp;</a></span>act_mark_cache</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_mark_cache</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad4caaa29e5e3a99351f952a02ed6c1e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4caaa29e5e3a99351f952a02ed6c1e2">&#9670;&nbsp;</a></span>act_mark_pub</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_mark_pub</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af590827d3047be81c6604bd5e67a6c8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af590827d3047be81c6604bd5e67a6c8c">&#9670;&nbsp;</a></span>BEV_mat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BEV_mat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abbf2a98f2bfcb7d9679e49ae8667f615"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbf2a98f2bfcb7d9679e49ae8667f615">&#9670;&nbsp;</a></span>depth_scale</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth_scale</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a86eea3ffa9b2745eb0317f43d605e5eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86eea3ffa9b2745eb0317f43d605e5eb">&#9670;&nbsp;</a></span>hTracker</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hTracker</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac9539a5e0167bf4cd9d1f748d4138b6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9539a5e0167bf4cd9d1f748d4138b6e">&#9670;&nbsp;</a></span>humanAndhumanImg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">humanAndhumanImg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a15c737ae7595175e7a2c4c72a6eeb82c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15c737ae7595175e7a2c4c72a6eeb82c">&#9670;&nbsp;</a></span>humanImg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">humanImg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a430bc4cf45e20b4c9b1a9e86e9004f62"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a430bc4cf45e20b4c9b1a9e86e9004f62">&#9670;&nbsp;</a></span>humanMask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">humanMask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+</ul>
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diff --git a/docs/classSurveillance_1_1deployment_1_1Base_1_1Params-members.html b/docs/classSurveillance_1_1deployment_1_1Base_1_1Params-members.html
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+<p>The calibration topics deployment - camera info. </p>
+<p>The test data topics. </p>
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+</div>
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+</ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder-members.html b/docs/classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder-members.html
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+  <div class="headertitle">
+<div class="title">ActDecoder Member List</div>  </div>
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+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ae64f0875afe3067b97ba370b354b9213">__init__</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ad8a859a39295b26d9f586354a44912ce">decode</a>(self, key)</td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ab0ff009151f74f53abbcf6d6e8efce13">key_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a></td><td class="entry"></td></tr>
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+          <td class="memname">activity</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab0ff009151f74f53abbcf6d6e8efce13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0ff009151f74f53abbcf6d6e8efce13">&#9670;&nbsp;</a></span>key_cache</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">key_cache</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac5a4637b6768a97597eeae099cc88607"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5a4637b6768a97597eeae099cc88607">&#9670;&nbsp;</a></span>no_act_label</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string no_act_label = &quot;No Activity&quot;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/deployment/<a class="el" href="activity__record_8py.html">activity_record.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html
new file mode 100644
index 00000000..d6e85b26
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html
@@ -0,0 +1,90 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a39000bad924dc8be25adea30359eab50">__init__</a>(self, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">buildCalibratedFromImage</a>(theData, isRGBD=False)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</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_1BlackWorkMat_1_1Calibrator.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a>(self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a>(self, theMask)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html
new file mode 100644
index 00000000..2058e71c
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+++ b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html
@@ -0,0 +1,390 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Calibrator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a39000bad924dc8be25adea30359eab50"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a39000bad924dc8be25adea30359eab50">__init__</a> (self, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a39000bad924dc8be25adea30359eab50"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for black workspace mat detector.  <a href="#a39000bad924dc8be25adea30359eab50">More...</a><br /></td></tr>
+<tr class="separator:a39000bad924dc8be25adea30359eab50"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a> (self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td></tr>
+<tr class="separator:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save results of calibration to HDF5 file.  <a href="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a354fd39c945e2ad77c9d3b8145c17752"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a> (self, theMask)</td></tr>
+<tr class="separator:a354fd39c945e2ad77c9d3b8145c17752"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4cdb1e047635e92559744e18f3128d44"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">buildCalibratedFromImage</a> (theData, isRGBD=False)</td></tr>
+<tr class="memdesc:a4cdb1e047635e92559744e18f3128d44"><td class="mdescLeft">&#160;</td><td class="mdescRight">def saveConfig(self, outFile): pass  <a href="#a4cdb1e047635e92559744e18f3128d44">More...</a><br /></td></tr>
+<tr class="separator:a4cdb1e047635e92559744e18f3128d44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td></tr>
+<tr class="separator:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a39000bad924dc8be25adea30359eab50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39000bad924dc8be25adea30359eab50">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for black workspace mat detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4cdb1e047635e92559744e18f3128d44"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cdb1e047635e92559744e18f3128d44">&#9670;&nbsp;</a></span>buildCalibratedFromImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildCalibratedFromImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theData</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isRGBD</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
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+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save results of calibration to HDF5 file. </p>
+<p>The save process saves the necessary information to instantiate a <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> class object. Stored in root of fPtr.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a354fd39c945e2ad77c9d3b8145c17752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a354fd39c945e2ad77c9d3b8145c17752">&#9670;&nbsp;</a></span>setMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0e5a69462b4b56725dafea0e8ac694c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5a69462b4b56725dafea0e8ac694c3">&#9670;&nbsp;</a></span>imFG</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">imFG</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
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+        </tr>
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+</div><div class="memdoc">
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+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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> 1.8.13
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+</html>
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+</div><!--header-->
+<div class="contents">
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+<p>Configuration instance for glove tracking perceiver.  
+ <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgPuzzlePerceiver.html#details">More...</a></p>
+<div class="dynheader">
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+<div class="dyncontent">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>Instantiate a puzzle scene configuration object. </p>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+</a> 1.8.13
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a565d1ccd606c961b08b473cfe47c79ec"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">__init__</a> (self, processors=None, bgMod=None)</td></tr>
+<tr class="memdesc:a565d1ccd606c961b08b473cfe47c79ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#a565d1ccd606c961b08b473cfe47c79ec">More...</a><br /></td></tr>
+<tr class="separator:a565d1ccd606c961b08b473cfe47c79ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a> (self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td></tr>
+<tr class="separator:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ae90a1593014fd597a8426210ac7174"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4ae90a1593014fd597a8426210ac7174">loadFrom</a> (fPtr, processor=None)</td></tr>
+<tr class="separator:a4ae90a1593014fd597a8426210ac7174"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a354fd39c945e2ad77c9d3b8145c17752"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a> (self, theMask)</td></tr>
+<tr class="separator:a354fd39c945e2ad77c9d3b8145c17752"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab474e90d2a82b1af880bcb8efe85e65b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">buildFromCfg</a> (theConfig, processor=None)</td></tr>
+<tr class="memdesc:ab474e90d2a82b1af880bcb8efe85e65b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build an inCorner instance from an algorithm configuration instance.  <a href="#ab474e90d2a82b1af880bcb8efe85e65b">More...</a><br /></td></tr>
+<tr class="separator:ab474e90d2a82b1af880bcb8efe85e65b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4498702614e2397a06ca0cd53000b0d3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4498702614e2397a06ca0cd53000b0d3">calibrate2config</a> (theStream, outFile, isRGBD=False)</td></tr>
+<tr class="separator:a4498702614e2397a06ca0cd53000b0d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td></tr>
+<tr class="separator:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a565d1ccd606c961b08b473cfe47c79ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a565d1ccd606c961b08b473cfe47c79ec">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bgMod</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab474e90d2a82b1af880bcb8efe85e65b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab474e90d2a82b1af880bcb8efe85e65b">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Build an inCorner instance from an algorithm configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">bgDet</td><td>Instantiated inCorner background model detector. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4498702614e2397a06ca0cd53000b0d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4498702614e2397a06ca0cd53000b0d3">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isRGBD</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a66c8e08d55474793fd8fc667b0c22d7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66c8e08d55474793fd8fc667b0c22d7f">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;foreground&#160;objects&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ae90a1593014fd597a8426210ac7174"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ae90a1593014fd597a8426210ac7174">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> to given HDF5 file. </p>
+<p>The save process saves the necessary information to re-instantiate a <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> class object. Stored in root of fPtr.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a354fd39c945e2ad77c9d3b8145c17752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a354fd39c945e2ad77c9d3b8145c17752">&#9670;&nbsp;</a></span>setMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0e5a69462b4b56725dafea0e8ac694c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5a69462b4b56725dafea0e8ac694c3">&#9670;&nbsp;</a></span>imFG</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imFG</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstPuzzlePerceiver Class 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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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html">InstPuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPuzzlePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the Puzzle pieces perceiver.  
+ <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the Puzzle pieces perceiver. </p>
+<p>It only works to capture the puzzle pieces and assumes there are no distractor objects. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PuzzlePerceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">buildWithBasicTracker</a>(buildConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a>(self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: PuzzlePerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+$(function() {
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PuzzlePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PuzzlePerceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver__inherit__graph.png" border="0" usemap="#PuzzlePerceiver_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PuzzlePerceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver__coll__graph.png" border="0" usemap="#PuzzlePerceiver_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a0c2c14a208de7aa36b7a38fb491a0b36"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a> (self, perCfg=None, perInst=None)</td></tr>
+<tr class="separator:a0c2c14a208de7aa36b7a38fb491a0b36"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt parts of the process based on measurements and corrections.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correct the estimated state based on measured and predicted.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a152ab1293e97cde9ea3dca2b8627fa19"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a> (self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td></tr>
+<tr class="separator:a152ab1293e97cde9ea3dca2b8627fa19"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return state structure with no information.  <a href="#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current state structure.  <a href="#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recover track point or track frame based on detector + trackPointer output.  <a href="#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predict next measurement, if applicable.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">buildWithBasicTracker</a> (buildConfig)</td></tr>
+<tr class="memdesc:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a stored detector configuration, build out a puzzle perceiver with multi-centroid tracking.  <a href="#a8d82af2a1c4cc2d819f0468bc3deb539">More...</a><br /></td></tr>
+<tr class="separator:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0c2c14a208de7aa36b7a38fb491a0b36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c2c14a208de7aa36b7a38fb491a0b36">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perInst</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt parts of the process based on measurements and corrections. </p>
+
+</div>
+</div>
+<a id="a8d82af2a1c4cc2d819f0468bc3deb539"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d82af2a1c4cc2d819f0468bc3deb539">&#9670;&nbsp;</a></span>buildWithBasicTracker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildWithBasicTracker </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>buildConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Given a stored detector configuration, build out a puzzle perceiver with multi-centroid tracking. </p>
+<p>Most of the configuration can default to standard settings or to hard coded puzzle settings (that should never be changed). </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Correct the estimated state based on measured and predicted. </p>
+<p>At least if there is a filter defined. </p>
+
+</div>
+</div>
+<a id="a152ab1293e97cde9ea3dca2b8627fa19"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a152ab1293e97cde9ea3dca2b8627fa19">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;puzzle&#160;pieces&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return state structure with no information. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The state structure with no content. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the current state structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cstate</td><td>The current state structure. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Recover track point or track frame based on detector + trackPointer output. </p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Predict next measurement, if applicable. </p>
+<p>Method overrides base, which does nothing. This is because the measure function operates differently.</p>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000018">Todo:</a></b></dt><dd>Later on, there should be a code review and some unification of code and intent should be done. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor-members.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor-members.html
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CalibGloveByColor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</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_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
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+</a> 1.8.13
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CalibGloveByColor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for CalibGloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor__inherit__graph.png" border="0" usemap="#CalibGloveByColor_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dyncontent">
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+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</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:a72fbf2f30085967560d93851fdf9fe6b inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb 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="separator:ae41cd8a9eb2f382e6706d5418bee3c83 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the new incoming signal on full detection pipeline.  <a href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">More...</a><br /></td></tr>
+<tr class="separator:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a> (self, fileName)</td></tr>
+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for saving internal information to HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4432ad5c680b2372adf2f56998516c6d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td></tr>
+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetectorState Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abd7045ad8553e16c50a967b4d48b7f6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">any</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">GloveByColor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html#af6c7a3f709feb7b34c6dae656b07899a">detector::inImage::fgImage.__init__</a>(self, processor=None)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html">fgImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">detector::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</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_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">detector::inImage::fgImage.load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html
new file mode 100644
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: GloveByColor Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">GloveByColor Class Reference<div class="ingroups"><a class="el" href="group__Surveillance.html">Surveillance</a></div></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a> detector by color only.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for GloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor__inherit__graph.png" border="0" usemap="#GloveByColor_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" id="node2" href="classdetector_1_1inImage_1_1fgImage.html" title="The most basic object or instance detector from image input. " alt="" coords="37,229,107,256"/>
+<area shape="rect" id="node3" href="classdetector_1_1inImage_1_1inImage.html" title="The most basic object or instance detector from image input. " alt="" coords="38,155,106,181"/>
+<area shape="rect" id="node4" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class. " alt="" coords="46,80,98,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for GloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor__coll__graph.png" border="0" usemap="#GloveByColor_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</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>
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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:a72fbf2f30085967560d93851fdf9fe6b 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:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest state.  <a href="classdetector_1_1base_1_1Base.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">measure</a> (self, signal)</td></tr>
+<tr class="memdesc:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate measurement of activity state from passed signal.  <a href="classdetector_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">More...</a><br /></td></tr>
+<tr class="separator:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predict next state from current state.  <a href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a> (self, signal)</td></tr>
+<tr class="memdesc:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the new incoming signal on full detection pipeline.  <a href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">More...</a><br /></td></tr>
+<tr class="separator:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a> (self, fileName)</td></tr>
+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for saving internal information to HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</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>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a> detector by color only. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector 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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a980ec3519da6034d0c65e65a9dfe4a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a980ec3519da6034d0c65e65a9dfe4a73">&#9670;&nbsp;</a></span>imGlove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imGlove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a>(self, iState=None, trackCfg=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<title>IVALab Python Libraries: GlovePointer Class 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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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">GlovePointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for GlovePointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer__inherit__graph.png" border="0" usemap="#GlovePointer_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for GlovePointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer__coll__graph.png" border="0" usemap="#GlovePointer_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae91dc874e20b1447436644d006da91e9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
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+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstGloveDetector Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGloveDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstGlovePerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html">InstGlovePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGlovePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html
new file mode 100644
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+++ b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PerceiveGloveBC Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</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_1GloveByColor_1_1PerceiveGloveBC.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad56139229f38b159ff12a57572163955">tMeas</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PerceiveGloveBC Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Perceiver based on detecting glove by color.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for PerceiveGloveBC:</div>
+<div class="dyncontent">
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC__coll__graph.png" border="0" usemap="#PerceiveGloveBC_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:ad56139229f38b159ff12a57572163955"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Perceiver based on detecting glove by color. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0c2c14a208de7aa36b7a38fb491a0b36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c2c14a208de7aa36b7a38fb491a0b36">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perInst</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa21d87aa1e4d13b5008be4f0e49ed31f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa21d87aa1e4d13b5008be4f0e49ed31f">&#9670;&nbsp;</a></span>buildFromFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thefile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CfgExtra</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+          <td></td><td></td>
+        </tr>
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+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a870baf8ed8c5e8ab984e620732abaa92">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
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+</ul>
+</div><!-- contents -->
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+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC__coll__graph.map b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC__coll__graph.map
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@@ -0,0 +1,2 @@
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC__coll__graph.md5 b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC__coll__graph.md5
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new file mode 100644
index 00000000..45c18263
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html
@@ -0,0 +1,105 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<script type="text/javascript">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</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_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html
new file mode 100644
index 00000000..da64a0df
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Calibrator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Calibrator_inherit__map" id="Calibrator_inherit__map">
+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html" title="Detector" alt="" coords="23,80,95,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
+<map name="Calibrator_coll__map" id="Calibrator_coll__map">
+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html" title="Detector" alt="" coords="23,80,95,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
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+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe 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:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
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+<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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c 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#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<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>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4432ad5c680b2372adf2f56998516c6d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td></tr>
+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
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+          <td class="paramname"><em>I</em>&#160;</td>
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+<p>Apply entire predict to adapt process to source image. </p>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
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+        <tr>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
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+</div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html">CfgGloveDetector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgGloveDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration instance for glove tracking perceiver.  
+ <a href="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgGloveDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1CfgGloveDetector__inherit__graph.png" border="0" usemap="#CfgGloveDetector_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><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_1CfgGloveDetector.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for glove tracking perceiver. </p>
+<p>Designed to work for processing subsets (detect, track, etc). </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
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+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
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+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+<p>Instantiate a puzzle scene configuration object. </p>
+
+</div>
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+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
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+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector-members.html
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index 00000000..d68b84f3
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+++ b/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</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_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector.html
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Detector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detector_inherit__map" id="Detector_inherit__map">
+<area shape="rect" id="node3" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html" title="Calibrator" alt="" coords="19,155,98,181"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><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="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</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>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1Glove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a980ec3519da6034d0c65e65a9dfe4a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a980ec3519da6034d0c65e65a9dfe4a73">&#9670;&nbsp;</a></span>imGlove</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">imGlove</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1DetectorState-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1DetectorState-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">DetectorState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html">DetectorState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html">DetectorState</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: DetectorState Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+</iframe>
+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetectorState Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
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+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abd7045ad8553e16c50a967b4d48b7f6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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> 1.8.13
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+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGloveDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1Glove_1_1InstGloveDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstGlovePerceiver Class 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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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html">InstGlovePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGlovePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Perceiver-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+$(function() {
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+<div id="MSearchSelectWindow"
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+  <div class="summary">
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+<div class="memitem">
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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+   <div id="projectname">IVALab Python Libraries
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+$(function() {
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__inherit__graph.png" border="0" usemap="#TrackPointer_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.map b/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.map
new file mode 100644
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@@ -0,0 +1,2 @@
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.md5 b/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.md5
new file mode 100644
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator-members.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator-members.html
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index 00000000..a205403d
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+++ b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator-members.html
@@ -0,0 +1,106 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a>(self, detCfg=None, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</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_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Surveillance::layers::HoveringGlove::Detector.measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Calibrator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
+<map name="Calibrator_coll__map" id="Calibrator_coll__map">
+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html" title="Detector" alt="" coords="23,80,95,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
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+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a187cca46ab69a66cdff777315459c07c inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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index 00000000..e03d0310
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+  <div class="headertitle">
+<div class="title">CfgHandDetector Member List</div>  </div>
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+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html">CfgHandDetector</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgHandDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration instance for glove tracking perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#details">More...</a></p>
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+</table><table class="memberdecls">
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+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><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_1CfgHandDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for glove tracking perceiver. </p>
+<p>Designed to work for processing subsets (detect, track, etc). </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
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+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene configuration object. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</div><!-- contents -->
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+</a> 1.8.13
+</small></address>
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+</html>
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+<title>IVALab Python Libraries: Member List</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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</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_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Detector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detector_inherit__map" id="Detector_inherit__map">
+<area shape="rect" id="node3" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html" title="Calibrator" alt="" coords="19,155,98,181"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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"><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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><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#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, I, M=None)</td></tr>
+<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>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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"><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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><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="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</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>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for layer(s). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for layer(s). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>Does nothing. There may nto be enough information to know how to proceed. </p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
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+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Optional mask indicate candidate hand regions (true) but with presumption that there may false positives. </td></tr>
+  </table>
+  </dd>
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+</div>
+</div>
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+<div class="memitem">
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+          <td></td>
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+<p>Generate prediction of expected measurement. </p>
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+
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+        </tr>
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+          <td></td><td></td>
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+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
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+  </table>
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+</dl>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
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+  </table>
+  </dd>
+</dl>
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
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+
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+
+<div class="memitem">
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">DetectorState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: DetectorState Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.map b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.map
new file mode 100644
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.md5 b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.md5
new file mode 100644
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstDetector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html">InstDetector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html
new file mode 100644
index 00000000..5c0aab0f
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstPerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html">InstPerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html
new file mode 100644
index 00000000..ab493512
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html
@@ -0,0 +1,93 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Perceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Perceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Perceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver__inherit__graph.png" border="0" usemap="#Perceiver_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Perceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver__coll__graph.png" border="0" usemap="#Perceiver_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+        </tr>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
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+<!-- 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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: TrackPointer Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer__inherit__graph.png" border="0" usemap="#TrackPointer_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a>(self, detCfg=None, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</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_1HoveringHand_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Surveillance::layers::HoveringHand::Detector.measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+<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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html
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+<title>IVALab Python Libraries: Calibrator Class 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" title="Detector" alt="" coords="23,80,95,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
+<map name="Calibrator_coll__map" id="Calibrator_coll__map">
+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" title="Detector" alt="" coords="23,80,95,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><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="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
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+  <div class="headertitle">
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html
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+  <div class="summary">
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene configuration object. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.map b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.map
new file mode 100644
index 00000000..4309fd3f
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.map
@@ -0,0 +1,3 @@
+<map id="CfgHandDetector" name="CfgHandDetector">
+<area shape="rect" id="node2" href="$classdetector_1_1Configuration_1_1AlgConfig.html" title="AlgConfig" alt="" coords="28,80,107,107"/>
+</map>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.md5 b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.md5
new file mode 100644
index 00000000..ac5e3e62
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.md5
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html">DetStateHand</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html
new file mode 100644
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: DetStateHand Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html">DetStateHand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetStateHand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abd7045ad8553e16c50a967b4d48b7f6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">any</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html
new file mode 100644
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</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_1HoveringHand_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html
new file mode 100644
index 00000000..147af7e3
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html
@@ -0,0 +1,715 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Detector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detector_inherit__map" id="Detector_inherit__map">
+<area shape="rect" id="node3" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html" title="Calibrator" alt="" coords="19,155,98,181"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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"><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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><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#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, I, M=None)</td></tr>
+<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>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><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>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</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>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for layer(s). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for layer(s). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>Does nothing. There may nto be enough information to know how to proceed. </p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Optional mask indicate candidate hand regions (true) but with presumption that there may false positives. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b97ad3bcdde2c4ec043b039b56cbfab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b97ad3bcdde2c4ec043b039b56cbfab">&#9670;&nbsp;</a></span>imHand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imHand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html">InstDetector</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">InstDetector Class Reference</div>  </div>
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+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html
new file mode 100644
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: InstPerceiver Class 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>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html">InstPerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html
new file mode 100644
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--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html
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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 id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Perceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Perceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver__inherit__graph.png" border="0" usemap="#Perceiver_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver__coll__graph.png" border="0" usemap="#Perceiver_coll__map" alt="Collaboration graph"/></div>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
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+          <td class="paramname"><em>perCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perInst</em> = <code>None</code>&#160;</td>
+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
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+          <td></td>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thefile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CfgExtra</em> = <code>None</code>&#160;</td>
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+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
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+          <td></td>
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+          <td class="memname">def detect </td>
+          <td>(</td>
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+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+          <td>(</td>
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+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+          <td class="memname">def emptyState </td>
+          <td>(</td>
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+        <tr>
+          <td class="memname">def getDebugState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+
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+          <td>(</td>
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+          <td></td>
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+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+          <td></td><td></td>
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+      </table>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
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+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer-members.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a>(self, iState=None, trackCfg=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html
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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 id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer-members.html">List of all members</a>  </div>
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+<div class="contents">
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+Inheritance diagram for TrackPointer:</div>
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+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">imPuzzle</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<title>IVALab Python Libraries: Calibrator Class 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>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" id="node2" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html" title="Detectors" alt="" coords="19,80,98,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af883f30b0307ace54b0bb0c4970e62bf inherit pub_static_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#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a> (theStream, outFile)</td></tr>
+<tr class="separator:af883f30b0307ace54b0bb0c4970e62bf inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_static_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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9c23786b0c27aa484eabaa2977a62abb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c23786b0c27aa484eabaa2977a62abb">&#9670;&nbsp;</a></span>workspace</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">workspace</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+   <div id="projectname">IVALab Python Libraries
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html">CfgPuzzleScene</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+   <div id="projectname">IVALab Python Libraries
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+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for Puzzle Scene perceiver. </p>
+<p>Designed to work for processing subsets (detect, track, etc). </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
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+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene configuration object. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
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+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene__coll__graph.map b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene__coll__graph.map
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+  <div class="headertitle">
+<div class="title">Detectors Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a>(theStream, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">imPuzzle</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html
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+<meta name="generator" content="Doxygen 1.8.13"/>
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+<title>IVALab Python Libraries: Detectors Class 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>
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detectors Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detectors:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors__inherit__graph.png" border="0" usemap="#Detectors_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detectors_inherit__map" id="Detectors_inherit__map">
+<area shape="rect" id="node3" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html" title="Calibrator" alt="" coords="19,155,98,181"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detectors:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors__coll__graph.png" border="0" usemap="#Detectors_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
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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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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"><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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated Detector to given HDF5 file.  <a href="#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</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>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af883f30b0307ace54b0bb0c4970e62bf"><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#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a> (theStream, outFile)</td></tr>
+<tr class="separator:af883f30b0307ace54b0bb0c4970e62bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="memdesc:a980ec3519da6034d0c65e65a9dfe4a73"><td class="mdescLeft">&#160;</td><td class="mdescRight">First, perform any specified pre-processing.  <a href="#a980ec3519da6034d0c65e65a9dfe4a73">More...</a><br /></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaaa7b7bb05fd17f2488dbaa7663ecb11"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">imPuzzle</a></td></tr>
+<tr class="separator:aaaa7b7bb05fd17f2488dbaa7663ecb11"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c23786b0c27aa484eabaa2977a62abb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td></tr>
+<tr class="separator:a9c23786b0c27aa484eabaa2977a62abb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="af883f30b0307ace54b0bb0c4970e62bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af883f30b0307ace54b0bb0c4970e62bf">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector to given HDF5 file. </p>
+<p>The save process saves the necessary information to re-instantiate a <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a> class object.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
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+          <td class="memname">depth</td>
+        </tr>
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+</div><div class="memdoc">
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+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
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+<div class="memitem">
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+</div><div class="memdoc">
+
+<p>First, perform any specified pre-processing. </p>
+<dl class="section note"><dt>Note</dt><dd>Not dealing with pre-processor, but it might be important. </dd></dl>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000021">Todo:</a></b></dt><dd>Figure out how to use the improcessor. </dd></dl>
+<p>Second, invoke the layer detectors and post-processor to differentiate the actual semantic layers of the scene. The layer detectors should be considered as raw detectors that need further polishing to extract the desired semantic layer information. These layers are further processed by customized track pointers and filters. The post processing here is hard-coded rather than a private member function invocation.</p>
+<p>Shrink region associated to the surface just to clean up potential sources of confusion and promote recovery of puzzle pieces that are fully captured. Package the processed layers started with the glove. Next, remove any parts of the not surface layer that intersect with the expanded glove region. May remove adjacent puzzle piece area; that's OK since we can't rely on those pieces having been fully measured/captured. After that </p>
+
+</div>
+</div>
+<a id="aaaa7b7bb05fd17f2488dbaa7663ecb11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaa7b7bb05fd17f2488dbaa7663ecb11">&#9670;&nbsp;</a></span>imPuzzle</h2>
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+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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> 1.8.13
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+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState-members.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+ </tr>
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+<!-- end header part -->
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html">DetectorsState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">DetectorsState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html">DetectorsState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState.html">DetectorsState</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<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: DetectorsState Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
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+<div id="MSearchResultsWindow">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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+  <div class="headertitle">
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+</div><!--header-->
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+<title>IVALab Python Libraries: InstPuzzlePerceiver Class 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 id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
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+<!-- Generated by Doxygen 1.8.13 -->
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+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzlePerceiver.html">InstPuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPuzzlePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzlePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html
new file mode 100644
index 00000000..aa4f289c
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstPuzzleScene Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html">InstPuzzleScene</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPuzzleScene Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html
new file mode 100644
index 00000000..0f8237ea
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a>(self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Perceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Perceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Perceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver__inherit__graph.png" border="0" usemap="#Perceiver_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Perceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver__coll__graph.png" border="0" usemap="#Perceiver_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a0c2c14a208de7aa36b7a38fb491a0b36"><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_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a> (self, perCfg=None, perInst=None)</td></tr>
+<tr class="separator:a0c2c14a208de7aa36b7a38fb491a0b36"><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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
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+
+</div>
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+          <td></td>
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+          <td>(</td>
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+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
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+        </tr>
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+          <td class="paramkey"></td>
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+          <td class="paramname"><em>window_name</em> = <code>&quot;puzzle&#160;pieces&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+          <td class="memname">def emptyDebug </td>
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+        <tr>
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+          <td>(</td>
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+
+<div class="memitem">
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+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
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+          <td class="paramname"><em>I</em>&#160;</td>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
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+          <td></td>
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+
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+
+<div class="memitem">
+<div class="memproto">
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
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+
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointers Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</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_1PuzzleScene_1_1TrackPointers.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointers.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointers.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointers.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1TrackPointers.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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_1TrackPointers.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointers.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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_1TrackPointers.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<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>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointers.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a21ddfcf7ee9df16a820d99deb4fda263"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21ddfcf7ee9df16a820d99deb4fda263">&#9670;&nbsp;</a></span>pieces</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieces</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.map b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.map
new file mode 100644
index 00000000..a9890de0
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.map
@@ -0,0 +1,2 @@
+<map id="TrackPointers" name="TrackPointers">
+</map>
diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.md5 b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.md5
new file mode 100644
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1base.html">base</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Base Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac775ee34451fdfa742b318538164070e">__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><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>
+</table></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> 1.8.13
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1base_1_1Base-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:ac775ee34451fdfa742b318538164070e"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac775ee34451fdfa742b318538164070e">__init__</a></td></tr>
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+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9e40ee63bae4d2b96a13889c1962ed7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a> (self, img=None, raw_detect=False, ax=None)</td></tr>
+<tr class="separator:ac9e40ee63bae4d2b96a13889c1962ed7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7e9f25e26eb3fd8a28187b4fee04f7e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adf1f4fd59e6ea40d38c2b677a757007f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba339157c963a999b35e75d846ab4404"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aba339157c963a999b35e75d846ab4404">update_params</a> (self, name, val)</td></tr>
+<tr class="separator:aba339157c963a999b35e75d846ab4404"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
+<tr class="separator:a706fbc5a34b642746161e83b5518afbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abd3b4dab30ed613b063ee4fa5b566f2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Make the default getting the foregound mask
+
+To be overwritten for any specific detector type
+</pre> 
+</div>
+</div>
+<a id="ac9e40ee63bae4d2b96a13889c1962ed7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9e40ee63bae4d2b96a13889c1962ed7">&#9670;&nbsp;</a></span>draw_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def draw_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>raw_detect</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ax</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the layer result
+
+@ param[in] img             The input image. Default is None. If not None, then will crop the layer mask area and show.
+                    If None, then will only plot the binary mask
+@ param[in] raw_detect      bool. Default is False. If set to true, will draw the raw detected mask without postprocessing, 
+                    and will not display the trackerstate
+</pre> 
+</div>
+</div>
+<a id="a7e9f25e26eb3fd8a28187b4fee04f7e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e9f25e26eb3fd8a28187b4fee04f7e1">&#9670;&nbsp;</a></span>get_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adf1f4fd59e6ea40d38c2b677a757007f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf1f4fd59e6ea40d38c2b677a757007f">&#9670;&nbsp;</a></span>get_state()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_state </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Set a common processing pipeline?
+
+But different detector or tracker will generate different result name. 
+e.g. the layer mask should be obtained from fg_detector.getForeGround() and bg_detector.getBackground() separetely
+similar for the trackers 
+
+Might be better off defining the pipeline separately for different subclass of segmentor? Or just make up some default?
+
+TODO: here requires the tracker instance to have the process &amp; getstate API.
+might be better to also limit the input to some base tracker class with those APIs?
+</pre> 
+</div>
+</div>
+<a id="aba339157c963a999b35e75d846ab4404"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba339157c963a999b35e75d846ab4404">&#9670;&nbsp;</a></span>update_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_params </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>val</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update a parameter
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a706fbc5a34b642746161e83b5518afbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a706fbc5a34b642746161e83b5518afbc">&#9670;&nbsp;</a></span>layer_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abd3b4dab30ed613b063ee4fa5b566f2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd3b4dab30ed613b063ee4fa5b566f2a">&#9670;&nbsp;</a></span>layer_mask_det</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask_det</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed7f15e6db9ac45a9872f61d77ade4c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed7f15e6db9ac45a9872f61d77ade4c0">&#9670;&nbsp;</a></span>layer_state</h2>
+
+<div class="memitem">
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+</div><div class="memdoc">
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+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="Surveillance_2Surveillance_2layers_2base_8py.html">base.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.map b/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.map
new file mode 100644
index 00000000..5c8edfe7
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.map
@@ -0,0 +1,2 @@
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diff --git a/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.md5 b/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.md5
new file mode 100644
index 00000000..cb4504d5
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.png b/docs/classSurveillance_1_1layers_1_1base_1_1Params__inherit__graph.png
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+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the det_mask function
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="base__bg_8py.html">base_bg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<tr class="inherit_header pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td></tr>
+<tr class="separator:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@param preprocess: the preprocess of the input image
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+<a id="a41013be3459e5a9118b4aa276100034d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41013be3459e5a9118b4aa276100034d">&#9670;&nbsp;</a></span>__post_init__()</h2>
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+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
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+
+</div>
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+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="base__bg_8py.html">base_bg.py</a></li>
+</ul>
+</div><!-- contents -->
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+</a> 1.8.13
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the det_mask function
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="base__fg_8py.html">base_fg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1base__fg.html">base_fg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html">Params</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1base__fg_1_1Params-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Params Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Params:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1base__fg_1_1Params__inherit__graph.png" border="0" usemap="#Params_inherit__map" alt="Inheritance graph"/></div>
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+<div class="center"><img src="classSurveillance_1_1layers_1_1base__fg_1_1Params__coll__graph.png" border="0" usemap="#Params_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a41013be3459e5a9118b4aa276100034d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html#a41013be3459e5a9118b4aa276100034d">__post_init__</a> (self)</td></tr>
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+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a41013be3459e5a9118b4aa276100034d inherit pub_methods_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a41013be3459e5a9118b4aa276100034d">__post_init__</a> (self)</td></tr>
+<tr class="separator:a41013be3459e5a9118b4aa276100034d inherit pub_methods_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<tr class="inherit_header pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td></tr>
+<tr class="separator:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a41013be3459e5a9118b4aa276100034d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41013be3459e5a9118b4aa276100034d">&#9670;&nbsp;</a></span>__post_init__()</h2>
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+
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+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="base__fg_8py.html">base_fg.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html
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+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">det_mask only gets the detection mask without postprocess refinement
+Overwrite the det_mask function
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="human__seg_8py.html">human_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html
new file mode 100644
index 00000000..481877f1
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html
@@ -0,0 +1,106 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html">human_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Human_ColorSG_HeightInRange Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ac775ee34451fdfa742b318538164070e">__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#ac775ee34451fdfa742b318538164070e">Surveillance::layers::base_fg::Base_fg.__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a5e9b1626635a61ec89195e488ef8e16c">buildFromImage</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a5e9b1626635a61ec89195e488ef8e16c">Surveillance::layers::human_seg::Human_ColorSG.buildFromImage</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html">Human_ColorSG</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_1human__seg_1_1Human__ColorSG__HeightInRange.html#a4c4a44fad188170001c38f42b47fb8df">buildImgDiff</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html">Human_ColorSG</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a66fbd5a9a09be4e850c7815441bf272c">draw_height</a>(self, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a099066a9f34a332c2c55b9d90c075c84">height_estimator</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a59d8ccb066c51a33b09c7c9b52197ee3">height_map</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a09f2a608b10624074899a33e6b587729">intrinsics</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a02a795646b735d09b4e4d3f151b132e9">post_process</a>(self, det_mask)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a7b16d8cd0a9427e58038098d91fd0289">post_process_custom</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a797988a5460248ee2d7b9eb6b27746c1">update_depth</a>(self, depth)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a78ed19bd73ce1dbfffaff496c209961e">update_height_map</a>(self, height_map)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a35a1dae87fdfbdc19c9b1af60e3fe704">update_postprocess</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html
new file mode 100644
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@@ -0,0 +1,646 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Human_ColorSG_HeightInRange Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html">human_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Human_ColorSG_HeightInRange Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Human_ColorSG_HeightInRange:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange__inherit__graph.png" border="0" usemap="#Human__ColorSG__HeightInRange_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Human_ColorSG_HeightInRange:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange__coll__graph.png" border="0" usemap="#Human__ColorSG__HeightInRange_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The human detector based on the Single Gaussian Color segmentation
+It adds the postprocess routine that use the depth map to estimate the height,
+and then perform in-range segmentation to get the human layer mask.
+
+The postprocessor passed to the class constructor will be performed after the heightInRange process 
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5e9b1626635a61ec89195e488ef8e16c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e9b1626635a61ec89195e488ef8e16c">&#9670;&nbsp;</a></span>buildFromImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep_height</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsics</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackerFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4c4a44fad188170001c38f42b47fb8df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c4a44fad188170001c38f42b47fb8df">&#9670;&nbsp;</a></span>buildImgDiff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildImgDiff </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_bg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_fg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep_height</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsics</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackerFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a66fbd5a9a09be4e850c7815441bf272c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66fbd5a9a09be4e850c7815441bf272c">&#9670;&nbsp;</a></span>draw_height()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def draw_height </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ax</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw the estimated height map
+</pre> 
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the common measure process.
+
+The modified part is that the tracker is applied only on the detection mask,
+because only the hand centroid is of interest, whereas the goal of the 
+postprocess (height-based inRange segmentation) is to get the rest of the human body</pre> 
+</div>
+</div>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the post-process routine.
+Also allow users to add additional postprocess to the procedure.
+
+The function to:
+(a) get the height map from the depth map
+(b) perform thresholding on the height map and find the connected component to the largest CC of the init_mask
+(c) assuming the hand is reaching out from the top of the image frame, remove all pixels so far below the init_mask as outlier
+</pre> 
+</div>
+</div>
+<a id="a797988a5460248ee2d7b9eb6b27746c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a797988a5460248ee2d7b9eb6b27746c1">&#9670;&nbsp;</a></span>update_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update the stored depth frame for the post process
+</pre> 
+</div>
+</div>
+<a id="a78ed19bd73ce1dbfffaff496c209961e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78ed19bd73ce1dbfffaff496c209961e">&#9670;&nbsp;</a></span>update_height_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_height_map </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>height_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a35a1dae87fdfbdc19c9b1af60e3fe704"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35a1dae87fdfbdc19c9b1af60e3fe704">&#9670;&nbsp;</a></span>update_postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>postprocessor</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a099066a9f34a332c2c55b9d90c075c84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099066a9f34a332c2c55b9d90c075c84">&#9670;&nbsp;</a></span>height_estimator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_estimator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59d8ccb066c51a33b09c7c9b52197ee3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d8ccb066c51a33b09c7c9b52197ee3">&#9670;&nbsp;</a></span>height_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_map</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a09f2a608b10624074899a33e6b587729"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09f2a608b10624074899a33e6b587729">&#9670;&nbsp;</a></span>intrinsics</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">intrinsics</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a706fbc5a34b642746161e83b5518afbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a706fbc5a34b642746161e83b5518afbc">&#9670;&nbsp;</a></span>layer_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abd3b4dab30ed613b063ee4fa5b566f2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd3b4dab30ed613b063ee4fa5b566f2a">&#9670;&nbsp;</a></span>layer_mask_det</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask_det</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed7f15e6db9ac45a9872f61d77ade4c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed7f15e6db9ac45a9872f61d77ade4c0">&#9670;&nbsp;</a></span>layer_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_state</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>-NOTE: this is the only overwritten part </p>
+
+</div>
+</div>
+<a id="a7b16d8cd0a9427e58038098d91fd0289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b16d8cd0a9427e58038098d91fd0289">&#9670;&nbsp;</a></span>post_process_custom</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">post_process_custom</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="human__seg_8py.html">human_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.map b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.map
new file mode 100644
index 00000000..5c8edfe7
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.map
@@ -0,0 +1,2 @@
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diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.md5 b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.md5
new file mode 100644
index 00000000..56393ea3
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Params__inherit__graph.md5
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1puzzle__seg.html">puzzle_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Puzzle_Residual Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#ac775ee34451fdfa742b318538164070e">__init__</a></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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#ac775ee34451fdfa742b318538164070e">Surveillance::layers::base_fg::Base_fg.__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">detected_masks</a></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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</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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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></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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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></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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+Public Attributes</h2></td></tr>
+<tr class="memitem:aea79e641e00c820e01063fff1e5e2254"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">detected_masks</a></td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">This class detect the puzzle layer as the residual of the other masks
+
+The process of taking residual is treated as the roution postprocess
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the detection mask get function. 
+
+Suited for the inImage detector
+</pre> 
+</div>
+</div>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the routine post-process
+And apply the user-customize postprocess after the routine the procedure.
+
+The routine:
+(a) take the residual of the detection masks
+
+@param[in]  det_mask            The dummy detection result that is all True
+</pre> 
+</div>
+</div>
+<a id="ac28d6b90aea155426cabe2615fc0ea1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac28d6b90aea155426cabe2615fc0ea1f">&#9670;&nbsp;</a></span>set_detected_masks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def set_detected_masks </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>masks</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a35a1dae87fdfbdc19c9b1af60e3fe704"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35a1dae87fdfbdc19c9b1af60e3fe704">&#9670;&nbsp;</a></span>update_postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>postprocessor</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aea79e641e00c820e01063fff1e5e2254"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea79e641e00c820e01063fff1e5e2254">&#9670;&nbsp;</a></span>detected_masks</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">detected_masks</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b16d8cd0a9427e58038098d91fd0289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b16d8cd0a9427e58038098d91fd0289">&#9670;&nbsp;</a></span>post_process_custom</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">post_process_custom</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The dummy requires no params </li>
+</ul>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="puzzle__seg_8py.html">puzzle_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">robot_inRange Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>low_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>high_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the detection mask. 
+Based on the ivapylib/detector/testing/*_inRange.py, the in-range is constructed using the base class inImage,
+and the mask is get from self.Ip
+TODO: seems a little weird to me. I think there should be a generic get mask method
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="robot__seg_8py.html">robot_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Member List</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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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
+</div>
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+$(function() {
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+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1robot__seg.html">robot_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">robot_inRange_Height Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<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>
+<table class="directory">
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#ac775ee34451fdfa742b318538164070e">Surveillance::layers::robot_seg::robot_inRange.__init__</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</a></td><td class="entry"></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a099066a9f34a332c2c55b9d90c075c84"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a099066a9f34a332c2c55b9d90c075c84">height_estimator</a></td></tr>
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+<tr class="separator:a7b16d8cd0a9427e58038098d91fd0289"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The robot segmenter that uses the inRange segmentation on the height map
+
+The height based segmentation is treated as a routine post-process step.
+The customized postprocess passed through the params will be applied 
+after the routine post-process
+
+The height map can be obtained in two ways:
+1. Pass a heightEstimator to the constructor, and call process_depth function
+    to obtrain the height
+2. Use the setHeight function to set the heigth directly
+
+NOTE: Now for sanity only allows one of the ways to be activated.
+(i.e.) If the heightEstimator is stored, then setHeight will be disabled
+If the heightEstimator is None, then process_depth will be disabled
+
+@param[in]  low_th              float.The lower threshold for the inRange method
+@param[in]  high_th             float.The higher threshold for teh inRange method
+@param[in]  theHeightEstimator  HeightEstimator. Default is None. Used to estimate
+                                height from the depth. If None, then requires set the 
+                                depth before processing each frame.
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>low_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>high_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theHeightEstimator</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the whole post-process, which includes:
+1. Routine post-process (height based inRange segmentaiton)
+2. Customized post-process
+</pre> 
+</div>
+</div>
+<a id="a7cc6ec34f5198ff4402624fbcf210ea7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc6ec34f5198ff4402624fbcf210ea7">&#9670;&nbsp;</a></span>process_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Process the depth
+</pre> 
+</div>
+</div>
+<a id="a78ed19bd73ce1dbfffaff496c209961e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78ed19bd73ce1dbfffaff496c209961e">&#9670;&nbsp;</a></span>update_height_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_height_map </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>height_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Set the cached height map
+When the heightEstimator is None, can use this to set the height map externally
+
+@param[in]  height_map              The height_map to store
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a099066a9f34a332c2c55b9d90c075c84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099066a9f34a332c2c55b9d90c075c84">&#9670;&nbsp;</a></span>height_estimator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_estimator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59d8ccb066c51a33b09c7c9b52197ee3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d8ccb066c51a33b09c7c9b52197ee3">&#9670;&nbsp;</a></span>height_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_map</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b16d8cd0a9427e58038098d91fd0289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b16d8cd0a9427e58038098d91fd0289">&#9670;&nbsp;</a></span>post_process_custom</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">post_process_custom</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="robot__seg_8py.html">robot_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">Params Class Reference</div>  </div>
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+Static Public Attributes</h2></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">Should be the parameters different from the ones used in the layer segmenters
+
+Args:
+    BEV_trans_mat            The Bird-eye-view transformation matrix
+    BEV_rect_size            np.ndarray. (2, ) The image size (H, W) after rectification. If None, then will use the input image size. Defaults to None</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a208a854c0e009091906a4203a804e97e">buildFromRosbag</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 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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a369ac3fe7389d12ba7dea379f40dbb6d">path_idx_mode</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#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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a7cc6ec34f5198ff4402624fbcf210ea7">process_depth</a>(self, depth)</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#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>
+  <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"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6c9d445c0972d9afb165627b609d51a6">puzzle_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#a33e97a0953b4f4a9f1b61cd9556e2350">ratio</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#ab0db378e6ced1decdb42263d4cb2789a">ready</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#af1ec77bdca1b30e8153fc5da88f603db">ret</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#ac9352d49e6b05c3bef53620f0556714b">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>
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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 class="memitem:a6928de54b8e3273f4e582acd4d41d98a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6928de54b8e3273f4e582acd4d41d98a">scene_interpreter</a></td></tr>
+<tr class="separator:a6928de54b8e3273f4e582acd4d41d98a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e9bd13a08b49f94f18748c32fcacea8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a9e9bd13a08b49f94f18748c32fcacea8">theTracker</a></td></tr>
+<tr class="separator:a9e9bd13a08b49f94f18748c32fcacea8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aacf0670a6c7a71d72a1a910cfc7ef096"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aacf0670a6c7a71d72a1a910cfc7ef096">topics</a></td></tr>
+<tr class="separator:aacf0670a6c7a71d72a1a910cfc7ef096"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abec0b9ee4648af3b77db73e8070f1736"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#abec0b9ee4648af3b77db73e8070f1736">tracker</a></td></tr>
+<tr class="separator:abec0b9ee4648af3b77db73e8070f1736"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a499053276493510196d75d84e0ac45e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a499053276493510196d75d84e0ac45e6">vid_writer</a></td></tr>
+<tr class="separator:a499053276493510196d75d84e0ac45e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acb5ae323a914b134919511060a0d6d4f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#acb5ae323a914b134919511060a0d6d4f">vidname</a></td></tr>
+<tr class="separator:acb5ae323a914b134919511060a0d6d4f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0a9b52fb6605edc74fd7d5359f34477e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a0a9b52fb6605edc74fd7d5359f34477e">W</a></td></tr>
+<tr class="separator:a0a9b52fb6605edc74fd7d5359f34477e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abda3c5f2d902070656591b1f1664dc86"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#abda3c5f2d902070656591b1f1664dc86">wait_time</a></td></tr>
+<tr class="separator:abda3c5f2d902070656591b1f1664dc86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1a464766317ca2878de63df2ec7c041"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af1a464766317ca2878de63df2ec7c041">window_name</a></td></tr>
+<tr class="separator:af1a464766317ca2878de63df2ec7c041"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</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:
+    1. Background (tabletop) layer
+    2. Human layer
+    3. Robot arm layer
+    4. Puzzle piece layer
+The first three relys on their own segmenter, and the puzzle piece layer
+is assumed to be the residual.
+
+The interpreter will provide the following additional functions:
+1. Bird-eye-view rectification
+
+@param[in]  human_seg           The human segmenter.
+@param[in]  robot_seg           The robot segmenter.
+@param[in]  bg_seg              The background segmenter.
+@param[in]  params              Other parameters
+@param[in]  nonROI_init         A mask of initial nonROI region, which will be always treated as the background
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>human_seg</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a208a854c0e009091906a4203a804e97e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a208a854c0e009091906a4203a804e97e">&#9670;&nbsp;</a></span>buildFromRosbag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromRosbag </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_file</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_high</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_low</em> = <code>0.02</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hParams</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae0adcda4f2b152e9b83051248b821050"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0adcda4f2b152e9b83051248b821050">&#9670;&nbsp;</a></span>buildFromSourceDir()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromSourceDir </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imgSource</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a30ad2b04279a74afe0a36cb4c73d914d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30ad2b04279a74afe0a36cb4c73d914d">&#9670;&nbsp;</a></span>buildFromSourcePub()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromSourcePub </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cam_runner</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afe107e18903fdb4b99b27bf6e26e5abb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe107e18903fdb4b99b27bf6e26e5abb">&#9670;&nbsp;</a></span>get_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the content or the binary mask of a layer
+
+@param[in]  layer_name          The name of the layer mask to get
+                        Choices = ["bg", "human", "robot", "puzzle", "nonROI", "sourceRGB"]
+@param[in]  mask_only           Binary. If true, will get the binary mask
+@param[in]  BEV_rectify         Binary. If true, will rectify the layer
+                        to the bird-eye-view before return
+</pre> 
+</div>
+</div>
+<a id="ab7c5cc7c1c708a33c7edea7f26515c29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7c5cc7c1c708a33c7edea7f26515c29">&#9670;&nbsp;</a></span>get_nonROI()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_nonROI </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">This function encode the prior knowledge of which region is not of interest
+
+Current non-ROI: 
+1. Depth is zero, which indicate failure in depth capturing
+2. Height is too big (above 0.5 meter), which indicates non-table region
+
+@param[out] mask        The binary mask indicating non-ROI
+</pre> 
+</div>
+</div>
+<a id="ad4795eaddab88da28b99efa8f8c68eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4795eaddab88da28b99efa8f8c68eea">&#9670;&nbsp;</a></span>get_trackers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_trackers </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the track pointers for a layer. 
+If no tracker is applied or no trackpointers are detected, then will return None
+
+Args:
+    layer_name (str): The name of the layer trackers to get. \
+    Choices = ["human", "robot", "puzzle"]
+    BEV_rectify (bool, optional): Rectify to the bird-eye-view or not. Defaults to False.
+
+Returns:
+    tpt [np.ndarray, (2, N)]: The tracker pointers of the layer
+</pre> 
+</div>
+</div>
+<a id="a4c929e144b06b17fd349cc7601a3c747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c929e144b06b17fd349cc7601a3c747">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae7ea0e57263609b9fc86c2f0bde7294b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7ea0e57263609b9fc86c2f0bde7294b">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@param[in]  img         The rbg image to be processed
+</pre> 
+</div>
+</div>
+<a id="a7cc6ec34f5198ff4402624fbcf210ea7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc6ec34f5198ff4402624fbcf210ea7">&#9670;&nbsp;</a></span>process_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Process the depth map
+</pre> 
+</div>
+</div>
+<a id="aab1acb68c92075956008fbfc521c55b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aab1acb68c92075956008fbfc521c55b0">&#9670;&nbsp;</a></span>vis_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e60404be734751899afb73dcbbb781d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e60404be734751899afb73dcbbb781d">&#9670;&nbsp;</a></span>vis_puzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_puzzles </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the puzzle pieces segmentation result and the region carved around
+the puzzle pieces centroid. The latter may be used to pass to the puzzle solver.
+
+NOTE: move the function to another place? A better structure?
+
+Args:
+    mask_only (bool, optional): only visualize the mask or not. Defaults to False.
+    BEV_rectify (bool, optional): Rectify to the bird-eye-view or not. Defaults to True.
+    fh ([type], optional): Figure handle. Defaults to None.
+</pre> 
+</div>
+</div>
+<a id="ad51f390602db67153a103eff095b11a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad51f390602db67153a103eff095b11a1">&#9670;&nbsp;</a></span>vis_scene()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_scene </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a7f39ee7510f973f6462e717d341388db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f39ee7510f973f6462e717d341388db">&#9670;&nbsp;</a></span>activate</h2>
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+  <tr>
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+      <table class="memname">
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+          <td class="memname">activate</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a91973d7ea2cfa1ca07a154449cafa06d">&#9670;&nbsp;</a></span>allow_pickle</h2>
+
+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname">allow_pickle</td>
+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8fa675eb2fcec5b95d9d21c670da7f30">&#9670;&nbsp;</a></span>ax</h2>
+
+<div class="memitem">
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+  <tr>
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+      <table class="memname">
+        <tr>
+          <td class="memname">ax = <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#addecde06ced656af71c7c68c4e780fe8">axes</a>[idx]</td>
+        </tr>
+      </table>
+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#af8dd95942a665dc2de84d6fb11fe52e5">&#9670;&nbsp;</a></span>ax1</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6b260f2c3d4257125a7145d34fceed21">&#9670;&nbsp;</a></span>ax5</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#addecde06ced656af71c7c68c4e780fe8">&#9670;&nbsp;</a></span>axes</h2>
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+</table>
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+<h2 class="memtitle"><span class="permalink"><a href="#aea8f07689b038243b753197812f3c4af">&#9670;&nbsp;</a></span>BEV_size</h2>
+
+<div class="memitem">
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a2a9ce77f881d5a9a9bdd609fd7972c70">&#9670;&nbsp;</a></span>bg_hand</h2>
+
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+  <tr>
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+      <table class="memname">
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+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a517f31b4792db90b7655e9408c8e90a7">&#9670;&nbsp;</a></span>bg_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">bg_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>Trust human mask more </li>
+</ul>
+
+</div>
+</div>
+<a id="a4bc1594f2f08e1a19e9194c4eb3e83ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc1594f2f08e1a19e9194c4eb3e83ef">&#9670;&nbsp;</a></span>BG_mask</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
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+  <td class="mlabels-left">
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+  <td class="mlabels-left">
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+          <td class="memname">nonROI_init</td>
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+<ul>
+<li>The prior nonROI region </li>
+</ul>
+
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+</div>
+<a id="a8ed07fc13da4d5014bc1ea327ba24c22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ed07fc13da4d5014bc1ea327ba24c22">&#9670;&nbsp;</a></span>nonROI_mask</h2>
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+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The nonROI for each frame, which is the prior + pixels without necessary information. (e.g. The depth is missing) </li>
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+</div>
+</div>
+<a id="af28ca61b776544cf6c894131e2d034c9"></a>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1001359200f8455263d6d62807576c0e">&#9670;&nbsp;</a></span>puzzle_mask</h2>
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+          <td class="memname">puzzle_track_state</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab0db378e6ced1decdb42263d4cb2789a">&#9670;&nbsp;</a></span>ready</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">ready</td>
+        </tr>
+      </table>
+  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac9352d49e6b05c3bef53620f0556714b">&#9670;&nbsp;</a></span>rgb</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">rgb</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
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+<a id="a489c7cbcef872f066f2596e5a16cb2a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a489c7cbcef872f066f2596e5a16cb2a6">&#9670;&nbsp;</a></span>rgb_img</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rgb_img</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The image that is lastly processed </li>
+</ul>
+
+</div>
+</div>
+<a id="a70c0156e967c44d78afc245727ed2653"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70c0156e967c44d78afc245727ed2653">&#9670;&nbsp;</a></span>rgb_train</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rgb_train</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
+</div>
+<a id="aa38075a7f674a57b2f43cc5ef61d19d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa38075a7f674a57b2f43cc5ef61d19d7">&#9670;&nbsp;</a></span>robot_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_mask</td>
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+      </table>
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+</div>
+</div>
+<a id="a06218e1db167ce867d185a75e545a49a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06218e1db167ce867d185a75e545a49a">&#9670;&nbsp;</a></span>robot_seg</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_seg</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
+</div>
+<a id="af984f6b5852d364cb81862bc403248b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af984f6b5852d364cb81862bc403248b1">&#9670;&nbsp;</a></span>robot_track_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_track_state</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>Trust the human mask and the bg mask more </li>
+</ul>
+
+</div>
+</div>
+<a id="af0da3126a85e9a1802c1f3fa7203dcc1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af0da3126a85e9a1802c1f3fa7203dcc1">&#9670;&nbsp;</a></span>ROI_mask1</h2>
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+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td></tr>
+<tr class="separator:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@param preprocess: the preprocess of the input image
+@param postprocess: post process of the detected layer mask
+</pre> </div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a41013be3459e5a9118b4aa276100034d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41013be3459e5a9118b4aa276100034d">&#9670;&nbsp;</a></span>__post_init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __post_init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="tabletop__seg_8py.html">tabletop_seg.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__coll__graph.map b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__coll__graph.map
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+<map id="Params_GMM" name="Params_GMM">
+<area shape="rect" id="node2" href="$classSurveillance_1_1layers_1_1base__bg_1_1Params.html" title="Params" alt="" coords="5,6,72,33"/>
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diff --git a/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__coll__graph.md5 b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__coll__graph.md5
new file mode 100644
index 00000000..1e703983
--- /dev/null
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new file mode 100644
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new file mode 100644
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+++ b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">tabletop_GMM Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</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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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The background layer segmenter based on the Gaussian Mixture model(GMM)
+
+@param[in]  theDetector         detector.bgmodel.bgmodelGMM.bgmodelGMM_cv instance. The detector based on the GMM
+@param[in]  params              tabletop_seg.Params_GMM instance.
+                                The parameters related to the segmenter, including the preprocessor, postprocess, etc.
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a110fa42ddb30541ae15c3a6147bdf3ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a110fa42ddb30541ae15c3a6147bdf3ba">&#9670;&nbsp;</a></span>build()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def build </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mParams</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a50a4d24eb4e9ccb07985e1563c99586b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50a4d24eb4e9ccb07985e1563c99586b">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Calibrate the GMM model parameter
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/layers/<a class="el" href="tabletop__seg_8py.html">tabletop_seg.py</a></li>
+</ul>
+</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> 1.8.13
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+  <div class="headertitle">
+<div class="title">CfgNode Class Reference</div>  </div>
+</div><!--header-->
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+          <td class="paramtype">&#160;</td>
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+        </tr>
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+          <td class="paramtype">&#160;</td>
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+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a40212edf9eb89c9bbf7fef90d14fa05f">&#9670;&nbsp;</a></span>merge_from_files()</h2>
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+          <td class="memname">def merge_from_files </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
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+          <td class="paramtype">&#160;</td>
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+          <td>)</td>
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+<pre class="fragment">Merge from multiple files
+
+Args:
+    cfg_files (list):   A list of cfg file paths
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+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
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+</a> 1.8.13
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief          Mask-based region growing (from smaller mask into larger mask).
+
+    The criteria is logical true in the mask 
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
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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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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html
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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="textblock"><pre class="fragment">The parameters for the region growers
+
+@param[in]  k_neigb             How many connected pixels to check for each seed. Default=8
+@param[in]  th_val              For value difference based region grower. The threshold for the absolute value difference
+@param[in]  th_var              For value difference based region grower. The threshold for the absolute value difference is obtained by 
+                                seeds variance times the th_var
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+<h2 class="memtitle"><span class="permalink"><a href="#a6a1bb6ed41f44b60e7bd83b0e9945aa7">&#9670;&nbsp;</a></span>float</h2>
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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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+</ul>
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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html
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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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</div>
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+  <div class="headertitle">
+<div class="title">RegionGrower_ValDiff Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a>, including all inherited members.</p>
+<table class="directory">
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief          The value difference based region grower
+
+    The criteria is thresholding the difference between new candidate seed value and the avarage seed value
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+<a id="ac775ee34451fdfa742b318538164070e"></a>
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+<a id="a5e40e7fc3fad61ae046a769c60dde68f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e40e7fc3fad61ae046a769c60dde68f">&#9670;&nbsp;</a></span>th_val</h2>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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new file mode 100644
index 00000000..6ad3b00b
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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff__inherit__graph.md5 b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff__inherit__graph.md5
new file mode 100644
index 00000000..7fbc57dd
--- /dev/null
+++ b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff__inherit__graph.md5
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+<tr class="separator:a0431a4368c16813f7b030fcadb32b139"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a04ad0c39d7ca422dd9fd5a74e06af4e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief      The base class for all the region grower class.
+
+The Region Grow algorithm assumes that a target area is a connected area. 
+The algorithm starts from some initial target pixels (seeds), 
+and then attempts to grow out the whole target region based on some criteria
+
+This base class codes up the region grow algorithm process for extracting the target region:
+
+1. Initialize from a single pixel or a binary mask, whose pixels will be marked as target pixels 
+    and as "seed" (term for the accepted target pixels whose neighbor pixels have not been examined)
+2. while (seed list is not empty):
+    2.1     pop out a seed and check its neighborhood pixels.
+    2.2     for each neighbor, if it is out of bounadry, or already been marked as accepted or discarded, then pass
+    2.3     for each neighbor, if it can pass some criteria, then mark as accepted and add to the seed list
+                                else mark as discarded and continue</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1c6be8a08fb658321227cbd12377815f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c6be8a08fb658321227cbd12377815f">&#9670;&nbsp;</a></span>display_results()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_results </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a531f6508fd8181b76ca31e8bc1f46818">&#9670;&nbsp;</a></span>get_final_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_final_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5c186419606f7e9348f132446a060b46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c186419606f7e9348f132446a060b46">&#9670;&nbsp;</a></span>get_init_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_init_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0b84a68abf1941507b350506ad34729b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b84a68abf1941507b350506ad34729b">&#9670;&nbsp;</a></span>process_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_rej</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Region grow from an initial mask
+
+@param[in] img         The image to apply the algorithm
+@param[in] mask        A initial binary mask in numpy. The same shape as the image
+</pre> 
+</div>
+</div>
+<a id="aa35b1253d695aaf7a9e3d8e727227826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa35b1253d695aaf7a9e3d8e727227826">&#9670;&nbsp;</a></span>process_seeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_seeds </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>seeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rejects</em> = <code>[]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Region grow from a list of initial seeds
+
+@param[in] img          The image to apply the algorithm
+@param[in] seeds        (N, 2). 2: (row, col). A list of the initial seed coordinates
+@param[in] rejects      (N, 2). 2: (row, col). A list of discarded pixels that the algorithm shouldn't grow to
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a74e5d8981d7da5824730ab274bb01653"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74e5d8981d7da5824730ab274bb01653">&#9670;&nbsp;</a></span>cache_img</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2ae9de5bc2db74a603a01ed055c193bf">&#9670;&nbsp;</a></span>final_mask</h2>
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+<div class="memitem">
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a2bcd0f8ab1dc1afdb454a423edc21dfd">&#9670;&nbsp;</a></span>init_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
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+<a id="a0871a342883b19ea340667d18b00dd50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0871a342883b19ea340667d18b00dd50">&#9670;&nbsp;</a></span>neigb</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">neigb</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a594fc86eee42e5c9365bd6dbbcc6c1fc">&#9670;&nbsp;</a></span>reg_avg</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">reg_avg</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0431a4368c16813f7b030fcadb32b139"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0431a4368c16813f7b030fcadb32b139">&#9670;&nbsp;</a></span>reg_var</h2>
+
+<div class="memitem">
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+</div>
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+<a id="a04ad0c39d7ca422dd9fd5a74e06af4e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04ad0c39d7ca422dd9fd5a74e06af4e2">&#9670;&nbsp;</a></span>seed_list</h2>
+
+<div class="memitem">
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+          <td class="memname">seed_list</td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/utils/<a class="el" href="region__grow_8py.html">region_grow.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html b/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1transform.html">transform</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">frameTransformer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<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:ac9b73787395eeec8c4ee9d07f0baa61f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac9b73787395eeec8c4ee9d07f0baa61f">__init__</a> (self, M_intrinsic=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a>=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a>=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">M_BEV</a>=None)</td></tr>
+<tr class="separator:ac9b73787395eeec8c4ee9d07f0baa61f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0278f74e7c51cadb10507dbd45262f94"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a0278f74e7c51cadb10507dbd45262f94">parseDepth</a> (self, depth_map)</td></tr>
+<tr class="separator:a0278f74e7c51cadb10507dbd45262f94"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a790f3b7691237c2621744e477c6733c5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a790f3b7691237c2621744e477c6733c5">parsePBEV</a> (self, coords, deps=None)</td></tr>
+<tr class="separator:a790f3b7691237c2621744e477c6733c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a339718f0a61188ced460a2aecfc186fa"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a339718f0a61188ced460a2aecfc186fa">parsePCam</a> (self)</td></tr>
+<tr class="separator:a339718f0a61188ced460a2aecfc186fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac64bca68655166739ce7c34da8d04122"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac64bca68655166739ce7c34da8d04122">parsePImg</a> (self, coords, deps)</td></tr>
+<tr class="separator:ac64bca68655166739ce7c34da8d04122"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee8400cfb29cd9dfbd5caef732bb3fa1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#aee8400cfb29cd9dfbd5caef732bb3fa1">parsePRob</a> (self, robot_coords)</td></tr>
+<tr class="separator:aee8400cfb29cd9dfbd5caef732bb3fa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a3190a2fa77e1caab20b4d2feba26afeb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">M_BEV</a></td></tr>
+<tr class="separator:a3190a2fa77e1caab20b4d2feba26afeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad31de1cf2df4249c634663229eee71de"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ad31de1cf2df4249c634663229eee71de">M_int</a></td></tr>
+<tr class="separator:ad31de1cf2df4249c634663229eee71de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c7c11023a7c19137453a86502d6ec27"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a></td></tr>
+<tr class="separator:a7c7c11023a7c19137453a86502d6ec27"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a2fcd10c842b7ea4f70454960db6a3a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a></td></tr>
+<tr class="separator:a9a2fcd10c842b7ea4f70454960db6a3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">In a world composed of a depth camera, robot, and a defined world frame, 
+the frameTransformer handels the transformation between the image frame, camera frame, tabletop frame, and the robot frame.
+The image and camera frame follow the OpenCV definition
+
+The transformation matrix required to complish the task:
+1. M_intrinsic: The camera intrinsic matrix, which is the camera-to-image transformation (double direction). P_I = M_int * P_C
+2. M_WtoC: The world-to-camera transformation. One example is using the Aruco tag. P_C = M_WtoC * P_W
+3. M_WtoR: The world-to-robot transformation. P_R = M_WtoR * P_W
+4. M_BEV: The image-to-BEV transformation.  P_BEV = M_BEV * P_I
+
+Args:
+    M_intrinsic ((3,3)): The 3-by-3 intrinsic matrix
+    M_WtoC ((4, 4)): The 4-by-4 homogeneous camera-to-world intrinsic matrix
+    M_WtoR ((4, 4)): The 4-by-4 homogeneous world-to-robot intrinsic matrix
+    BEV_mat ((3, 3)): The Bird-eye-view transformation matrix
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac9b73787395eeec8c4ee9d07f0baa61f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b73787395eeec8c4ee9d07f0baa61f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_intrinsic</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoC</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoR</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_BEV</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0278f74e7c51cadb10507dbd45262f94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0278f74e7c51cadb10507dbd45262f94">&#9670;&nbsp;</a></span>parseDepth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parseDepth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse all the pixel coordinates from a depth map
+
+Args:
+    depth_map ((H, W)): The depth map
+Returns:
+    pC_map  ((H, W, 3)): The camera frame coordinate
+    pW_map  ((H, W, 3)): The world frame coordinate
+    pR_map  ((H, W, 3)): The robot frame coordinate
+</pre> 
+</div>
+</div>
+<a id="a790f3b7691237c2621744e477c6733c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a790f3b7691237c2621744e477c6733c5">&#9670;&nbsp;</a></span>parsePBEV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePBEV </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>deps</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the Bird-eye-view(BEV) coordinates
+
+Args:
+    coords ((N, 2)):        The BEV coordinates 
+    deps ((N,), optional):  The deps at the corresponding locations
+Returns
+    p_I ((N, 2)):           The image frame coordinates
+    p_C [(N, 3)]:           The camera frame coordinates (x, y, z)
+    p_W [(N, 3)]:           The world frame coordinates (x, y, z)
+    p_R [(N, 3)]:           The robot frame coordinates (x, y, z)
+</pre> 
+</div>
+</div>
+<a id="a339718f0a61188ced460a2aecfc186fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a339718f0a61188ced460a2aecfc186fa">&#9670;&nbsp;</a></span>parsePCam()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePCam </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac64bca68655166739ce7c34da8d04122"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64bca68655166739ce7c34da8d04122">&#9670;&nbsp;</a></span>parsePImg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePImg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>deps</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the image frame coordinate and get the coordinate in camera, world, and robot frame if applicable.
+The function requires both the image frame coordinate (u, v) and the depth value w.r.t. the camera.
+Without the depth, one image frame point will corresponds to a line in the 3D space
+
+Args:
+    coords (np.ndarray, (N, 2)): The (u, v) image frame coordinates. N is the query number
+    deps (np.ndarray, (N, )): The depth value cooresponds to the coords
+
+Returns:
+    p_C [(N, 3)]: The camera frame coordinates (x, y, z)
+    p_W [(N, 3)]: The world frame coordinates (x, y, z)
+    p_R [(N, 3)]: The robot frame coordinates (x, y, z)
+</pre> 
+</div>
+</div>
+<a id="aee8400cfb29cd9dfbd5caef732bb3fa1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee8400cfb29cd9dfbd5caef732bb3fa1">&#9670;&nbsp;</a></span>parsePRob()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePRob </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>robot_coords</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the robot frame coordinate and get the coordinate in world, image, and camera frame if applicable.
+Args:
+    robot_coords (np.ndarray, (N, 3)): The robot frame coordinates. N is the query number
+
+Returns:
+    p_W [(N, 3)]: The world frame coordinates (x, y, z)
+    p_C [(N, 3)]: The camera frame coordinates (x, y, z)
+    p_Img [(N, 2)]: The image frame coordinates (u, v)
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3190a2fa77e1caab20b4d2feba26afeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3190a2fa77e1caab20b4d2feba26afeb">&#9670;&nbsp;</a></span>M_BEV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_BEV</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad31de1cf2df4249c634663229eee71de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad31de1cf2df4249c634663229eee71de">&#9670;&nbsp;</a></span>M_int</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_int</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7c7c11023a7c19137453a86502d6ec27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c7c11023a7c19137453a86502d6ec27">&#9670;&nbsp;</a></span>M_WtoC</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_WtoC</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9a2fcd10c842b7ea4f70454960db6a3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a2fcd10c842b7ea4f70454960db6a3a">&#9670;&nbsp;</a></span>M_WtoR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_WtoR</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/Surveillance/Surveillance/utils/<a class="el" href="transform_8py.html">transform.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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index 106997b5..07563faa 100644
--- a/docs/classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance-members.html
+++ b/docs/classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance-members.html
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-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
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-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a>(self, ratio=None, window_name=&quot;Foreground&quot;)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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 Public Member Functions</h2></td></tr>
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+<tr class="separator:ac976933d38609243e36c16e819053422"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 </div>
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 <h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac976933d38609243e36c16e819053422"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac976933d38609243e36c16e819053422">&#9670;&nbsp;</a></span>displayForeground_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def displayForeground_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;Foreground&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
 <a id="aeeb76ceb09c66713017f6d99e45bc4c4"></a>
 <h2 class="memtitle"><span class="permalink"><a href="#aeeb76ceb09c66713017f6d99e45bc4c4">&#9670;&nbsp;</a></span>getBackground()</h2>
 
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-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html">targetCorner</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a>(self, ratio=None, window_name=&quot;Foreground&quot;)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html">targetCorner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html">targetCorner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
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diff --git a/docs/classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html b/docs/classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html
index 82569270..81122649 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html
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 <tr class="memitem:ab058f49235e44f84f611a9b3c54c1f37 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ab058f49235e44f84f611a9b3c54c1f37">__init__</a> (self, appMod, <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a>)</td></tr>
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+<tr class="memitem:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a> (self, ratio=None, window_name=&quot;Foreground&quot;)</td></tr>
+<tr class="separator:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 <tr class="memitem:a4354b3ac479f0e65055c71e6fa96e7c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a> (self)</td></tr>
diff --git a/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta-members.html b/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta-members.html
index 28f16b79..294c5e96 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta-members.html
+++ b/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta-members.html
@@ -78,24 +78,25 @@
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   <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">detect</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html">targetMagenta</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html">targetMagenta</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a>(self, ratio=None, window_name=&quot;Foreground&quot;)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html">targetMagenta</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html">targetMagenta</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
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diff --git a/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html b/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html
index fc636495..90ef9b76 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html
+++ b/docs/classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html
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 <tr class="memitem:ab058f49235e44f84f611a9b3c54c1f37 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ab058f49235e44f84f611a9b3c54c1f37">__init__</a> (self, appMod, <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a>)</td></tr>
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+<tr class="memitem:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a> (self, ratio=None, window_name=&quot;Foreground&quot;)</td></tr>
+<tr class="separator:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 <tr class="separator:aeeb76ceb09c66713017f6d99e45bc4c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4354b3ac479f0e65055c71e6fa96e7c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a> (self)</td></tr>
diff --git a/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon-members.html b/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon-members.html
index 3008c6d2..9f332a08 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon-members.html
+++ b/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon-members.html
@@ -81,24 +81,25 @@
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   <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">detect</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html">targetNeon</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html">targetNeon</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a>(self, ratio=None, window_name=&quot;Foreground&quot;)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html">targetNeon</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html">targetNeon</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
diff --git a/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html b/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html
index 4392555a..56c8877d 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html
+++ b/docs/classdetector_1_1fgmodel_1_1targetNeon_1_1targetNeon.html
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 <tr class="memitem:ab058f49235e44f84f611a9b3c54c1f37 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ab058f49235e44f84f611a9b3c54c1f37">__init__</a> (self, appMod, <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a>)</td></tr>
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+<tr class="memitem:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a> (self, ratio=None, window_name=&quot;Foreground&quot;)</td></tr>
+<tr class="separator:ac976933d38609243e36c16e819053422 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aeeb76ceb09c66713017f6d99e45bc4c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a> (self)</td></tr>
 <tr class="separator:aeeb76ceb09c66713017f6d99e45bc4c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4354b3ac479f0e65055c71e6fa96e7c4 inherit pub_methods_classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a> (self)</td></tr>
diff --git a/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG-members.html b/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG-members.html
index 036ff906..2be6a810 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG-members.html
+++ b/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG-members.html
@@ -80,29 +80,30 @@
   <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a1331d09997dc4070548692f77cb31837">calibrate</a>(self, mode=&quot;ImgDiff&quot;, args)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">detect</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a82ff25979bc20c2539372d0df9bdd412">get_fg_imgDiff</a>(bgImg, fgImg, th)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ae54d615baf7cd32da1c3082a13ec6d68">loadMod</a>(self, filename)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#aa2f0c1bde1a480a20b1a26aac02d6536">saveMod</a>(self, filename)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a9088b7c8327a103bd8b37845a24ebe8b">update_th</a>(self, val)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">displayForeground_cv</a>(self, ratio=None, window_name=&quot;Foreground&quot;)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a5f67699c34406d35f53e38dc6df16a52">fgIm</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a82ff25979bc20c2539372d0df9bdd412">get_fg_imgDiff</a>(bgImg, fgImg, th)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#aeeb76ceb09c66713017f6d99e45bc4c4">getBackground</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a4354b3ac479f0e65055c71e6fa96e7c4">getForeGround</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html">fgAppearance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ae54d615baf7cd32da1c3082a13ec6d68">loadMod</a>(self, filename)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#aa2f0c1bde1a480a20b1a26aac02d6536">saveMod</a>(self, filename)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html#a9088b7c8327a103bd8b37845a24ebe8b">update_th</a>(self, val)</td><td class="entry"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
diff --git a/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html b/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html
index 362d6998..214568af 100644
--- a/docs/classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html
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 <tr><td rowspan="2" valign="bottom"><a name="letter_b"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;b&#160;&#160;</div></td></tr></table>
-</td><td valign="top"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a> (<a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">puzzle.pieces.matchDifferent</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1fgGaussian.html">fgGaussian</a> (<a class="el" href="namespacedetector_1_1fgmodel_1_1Gaussian.html">detector.fgmodel.Gaussian</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1onWorkspace.html">onWorkspace</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1onWorkspace.html">detector.bgmodel.onWorkspace</a>)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_s"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;s&#160;&#160;</div></td></tr></table>
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-<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Configs.html">D435_Configs</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner.html">camera.d435.runner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html">inCornerEstimator</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1inCorner.html">detector.bgmodel.inCorner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Pick.html">Pick</a> (<a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html">Surveillance.activity.FSM</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">Surveillance.layers.PuzzleScene</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html">D435_Runner</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner.html">camera.d435.runner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classperceiver_1_1perceiver_1_1Info.html">Info</a> (<a class="el" href="namespaceperceiver_1_1perceiver.html">perceiver.perceiver</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Piece.html">Piece</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_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">Surveillance.layers.HoveringGlove</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">Surveillance.layers.BlackWorkMat</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html">D435_Runner</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner2.html">camera.d435.runner2</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a> (<a class="el" href="namespacedetector_1_1inImage.html">detector.inImage</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</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_1HoveringHand_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html">D435RecBase</a> (<a class="el" href="namespacecamera_1_1d435_1_1recorders.html">camera.d435.recorders</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html">inImageRGBD</a> (<a class="el" href="namespacedetector_1_1inImageRGBD.html">detector.inImageRGBD</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Place.html">Place</a> (<a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html">Surveillance.activity.FSM</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">Surveillance.layers.PuzzleScene</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a> (<a class="el" href="namespacetrackpointer_1_1centroid.html">trackpointer.centroid</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecRosbag.html">D435RecRosbag</a> (<a class="el" href="namespacecamera_1_1d435_1_1recorders.html">camera.d435.recorders</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html">InstDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classbyRegion_1_1Planar.html">Planar</a> (<a class="el" href="namespacebyRegion.html">byRegion</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html">TrackState</a> (<a class="el" href="namespacetrackpointer_1_1centroid.html">trackpointer.centroid</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a> (<a class="el" href="namespacetrackpointer_1_1centroidMulti.html">trackpointer.centroidMulti</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435new_1_1Depth.html">Depth</a> (<a class="el" href="namespacecamera_1_1d435new.html">camera.d435new</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html">InstDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">Surveillance.layers.HoveringGlove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html">PlanarModel</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1inCorner.html">detector.bgmodel.inCorner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classbyMotion_1_1TrackState.html">TrackState</a> (<a class="el" href="namespacebyMotion.html">byMotion</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a> (<a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">puzzle.builder.adjacent</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1rostopic_1_1Depth.html">Depth</a> (<a class="el" href="namespacecamera_1_1rostopic.html">camera.rostopic</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGloveDetector.html">InstGloveDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a> (<a class="el" href="namespacepuzzle_1_1simulator_1_1planner.html">puzzle.simulator.planner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classtriggers_1_1Trigger.html">Trigger</a> (<a class="el" href="namespacetriggers.html">triggers</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classdrafts_1_1CfgAnnouncement.html">CfgAnnouncement</a> (<a class="el" href="namespacedrafts.html">drafts</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">Surveillance.layers.HoveringGlove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html">InstGloveDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">Surveillance.layers.GloveByColor</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a> (<a class="el" href="namespacepuzzle_1_1simulator_1_1plannerHand.html">puzzle.simulator.plannerHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a> (<a class="el" href="namespacepuzzle_1_1solver_1_1twoAgent.html">puzzle.solver.twoAgent</a>)&#160;&#160;&#160;</td></tr>
-<tr><td valign="top"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a> (<a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">puzzle.builder.arrangement</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html">InstGlovePerceiver</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1utils_1_1display_1_1plotfig.html">plotfig</a> (<a class="el" href="namespacecamera_1_1utils_1_1display.html">camera.utils.display</a>)&#160;&#160;&#160;</td><td rowspan="2" valign="bottom"><a name="letter_v"></a><table border="0" cellspacing="0" cellpadding="0"><tr><td><div class="ah">&#160;&#160;v&#160;&#160;</div></td></tr></table>
+</td><td valign="top"><a class="el" href="classimprocessor_1_1basic_1_1improcessor.html">improcessor</a> (<a class="el" href="namespaceimprocessor_1_1basic.html">improcessor.basic</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html">tModel_SG</a> (<a class="el" href="namespacedetector_1_1fgmodel_1_1targetSG.html">detector.fgmodel.targetSG</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">Surveillance.layers.HoveringGlove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html">inCorner</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1inCorner.html">detector.bgmodel.inCorner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html">PerceiverState</a> (<a class="el" href="namespaceperceiver_1_1perceiver.html">perceiver.perceiver</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classchannels_1_1toCSV.html">toCSV</a> (<a class="el" href="namespacechannels.html">channels</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Configs.html">D435_Configs</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner.html">camera.d435.runner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html">inCornerEstimator</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1inCorner.html">detector.bgmodel.inCorner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Pick.html">Pick</a> (<a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html">Surveillance.activity.FSM</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classchannels_1_1toFile.html">toFile</a> (<a class="el" href="namespacechannels.html">channels</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">Surveillance.layers.PuzzleScene</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html">D435_Runner</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner.html">camera.d435.runner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classperceiver_1_1perceiver_1_1Info.html">Info</a> (<a class="el" href="namespaceperceiver_1_1perceiver.html">perceiver.perceiver</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Piece.html">Piece</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_1HoveringHand_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">Surveillance.layers.BlackWorkMat</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner2_1_1D435__Runner.html">D435_Runner</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner2.html">camera.d435.runner2</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a> (<a class="el" href="namespacedetector_1_1inImage.html">detector.inImage</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</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_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">Surveillance.layers.HoveringGlove</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html">D435RecBase</a> (<a class="el" href="namespacecamera_1_1d435_1_1recorders.html">camera.d435.recorders</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1inImageRGBD_1_1inImageRGBD.html">inImageRGBD</a> (<a class="el" href="namespacedetector_1_1inImageRGBD.html">detector.inImageRGBD</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1activity_1_1FSM_1_1Place.html">Place</a> (<a class="el" href="namespaceSurveillance_1_1activity_1_1FSM.html">Surveillance.activity.FSM</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td></tr>
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+<tr><td valign="top"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a> (<a class="el" href="namespacetrackpointer_1_1centroidMulti.html">trackpointer.centroidMulti</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1d435new_1_1Depth.html">Depth</a> (<a class="el" href="namespacecamera_1_1d435new.html">camera.d435new</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html">InstDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html">PlanarModel</a> (<a class="el" href="namespacedetector_1_1bgmodel_1_1inCorner.html">detector.bgmodel.inCorner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html">TrackState</a> (<a class="el" href="namespacetrackpointer_1_1centroid.html">trackpointer.centroid</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a> (<a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">puzzle.builder.adjacent</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1rostopic_1_1Depth.html">Depth</a> (<a class="el" href="namespacecamera_1_1rostopic.html">camera.rostopic</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGloveDetector.html">InstGloveDetector</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Surveillance.layers.Glove</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a> (<a class="el" href="namespacepuzzle_1_1simulator_1_1planner.html">puzzle.simulator.planner</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classbyMotion_1_1TrackState.html">TrackState</a> (<a class="el" href="namespacebyMotion.html">byMotion</a>)&#160;&#160;&#160;</td></tr>
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+<tr><td valign="top"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html">CfgCentMulti</a> (<a class="el" href="namespacetrackpointer_1_1centroidMulti.html">trackpointer.centroidMulti</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">Surveillance.layers.PuzzleScene</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzlePerceiver.html">InstPuzzlePerceiver</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">Surveillance.layers.PuzzleScene</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1puzzle__seg.html">Surveillance.layers.puzzle_seg</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html">vidWriter_ROS</a> (<a class="el" href="namespacecamera_1_1utils_1_1writer__ros.html">camera.utils.writer_ros</a>)&#160;&#160;&#160;</td></tr>
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+<tr><td valign="top"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a> (<a class="el" href="namespacepuzzle_1_1board.html">puzzle.board</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html">DetStateHand</a> (<a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">Surveillance.layers.HoveringHand</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html">Manager</a> (<a class="el" href="namespacepuzzle_1_1manager.html">puzzle.manager</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html">RealSolverROS</a> (<a class="el" href="namespacepuzzle_1_1runnerROS.html">puzzle.runnerROS</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classtriggers_1_1whenSimilar.html">whenSimilar</a> (<a class="el" href="namespacetriggers.html">triggers</a>)&#160;&#160;&#160;</td></tr>
+<tr><td valign="top"><a class="el" href="classcamera_1_1d435_1_1runner2_1_1CfgD435.html">CfgD435</a> (<a class="el" href="namespacecamera_1_1d435_1_1runner2.html">camera.d435.runner2</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1utils_1_1specifications_1_1dict2struct.html">dict2struct</a> (<a class="el" href="namespaceSurveillance_1_1utils_1_1specifications.html">Surveillance.utils.specifications</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html">ManagerParms</a> (<a class="el" href="namespacepuzzle_1_1manager.html">puzzle.manager</a>)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a> (<a class="el" href="namespaceSurveillance_1_1utils_1_1region__grow.html">Surveillance.utils.region_grow</a>)&#160;&#160;&#160;</td><td></td></tr>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+ </tr>
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+</div>
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacehistogram.html">histogram</a></li><li class="navelem"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Histogram Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classhistogram_1_1Histogram.html">Histogram</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a06eb6be7f5ba77479993c01e1bb5c716">__init__</a>(self, tau=0.3)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a36f1a0a11957ac3d5665c37ae455f6b2">colorFeaExtract</a>(piece, color_mode=&quot;RGB&quot;)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classhistogram_1_1Histogram.html b/docs/classhistogram_1_1Histogram.html
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+<title>IVALab Python Libraries: Histogram Class 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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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="MSearchSelectWindow"
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+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacehistogram.html">histogram</a></li><li class="navelem"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classhistogram_1_1Histogram-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Histogram Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Histogram:</div>
+<div class="dyncontent">
+<div class="center"><img src="classhistogram_1_1Histogram__inherit__graph.png" border="0" usemap="#Histogram_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Histogram:</div>
+<div class="dyncontent">
+<div class="center"><img src="classhistogram_1_1Histogram__coll__graph.png" border="0" usemap="#Histogram_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a06eb6be7f5ba77479993c01e1bb5c716"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a06eb6be7f5ba77479993c01e1bb5c716">__init__</a> (self, tau=0.3)</td></tr>
+<tr class="separator:a06eb6be7f5ba77479993c01e1bb5c716"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a36f1a0a11957ac3d5665c37ae455f6b2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a36f1a0a11957ac3d5665c37ae455f6b2">colorFeaExtract</a> (piece, color_mode=&quot;RGB&quot;)</td></tr>
+<tr class="separator:a36f1a0a11957ac3d5665c37ae455f6b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a06eb6be7f5ba77479993c01e1bb5c716"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06eb6be7f5ba77479993c01e1bb5c716">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>0.3</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece histogram class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a36f1a0a11957ac3d5665c37ae455f6b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36f1a0a11957ac3d5665c37ae455f6b2">&#9670;&nbsp;</a></span>colorFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def colorFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color_mode</em> = <code>&quot;RGB&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute histogram from the raw puzzle data.
+       See https://opencv-tutorial.readthedocs.io/en/latest/histogram/histogram.html
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    hist: The histogram.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: Distance.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="histogram_8py.html">histogram.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classhistogram_1_1Histogram__coll__graph.map b/docs/classhistogram_1_1Histogram__coll__graph.map
new file mode 100644
index 00000000..ea76b89c
--- /dev/null
+++ b/docs/classhistogram_1_1Histogram__coll__graph.map
@@ -0,0 +1,2 @@
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diff --git a/docs/classhistogram_1_1Histogram__coll__graph.md5 b/docs/classhistogram_1_1Histogram__coll__graph.md5
new file mode 100644
index 00000000..218267a3
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+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Moments Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classmoments_1_1Moments.html">Moments</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a0d3dad4fd87cecd60ad98b8c7a25c979">__init__</a>(self, tau=5)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmoments_1_1Moments.html#aeb06517271392f6437626683874f0ea4">shapeFeaExtract</a>(piece)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
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+   </div>
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+<script type="text/javascript">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacemoments.html">moments</a></li><li class="navelem"><a class="el" href="classmoments_1_1Moments.html">Moments</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classmoments_1_1Moments-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Moments Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Moments:</div>
+<div class="dyncontent">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Moments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classmoments_1_1Moments__coll__graph.png" border="0" usemap="#Moments_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="separator:aeb06517271392f6437626683874f0ea4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0d3dad4fd87cecd60ad98b8c7a25c979"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d3dad4fd87cecd60ad98b8c7a25c979">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece moments class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: Distance.
+</pre> 
+</div>
+</div>
+<a id="aeb06517271392f6437626683874f0ea4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb06517271392f6437626683874f0ea4">&#9670;&nbsp;</a></span>shapeFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def shapeFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute moments from the raw puzzle data.
+See https://learnopencv.com/shape-matching-using-hu-moments-c-python/
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    huMoments: A list of huMoments value.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="moments_8py.html">moments.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">PCA Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpca_1_1PCA.html">PCA</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpca_1_1PCA.html#a8951b0294dfbcf19b4b4da5a6895eaa3">__init__</a>(self, tau=-float('inf'))</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpca_1_1PCA.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpca_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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+<title>IVALab Python Libraries: PCA Class 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepca.html">pca</a></li><li class="navelem"><a class="el" href="classpca_1_1PCA.html">PCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpca_1_1PCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpca_1_1PCA__inherit__graph.png" border="0" usemap="#PCA_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpca_1_1PCA__coll__graph.png" border="0" usemap="#PCA_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a8951b0294dfbcf19b4b4da5a6895eaa3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a8951b0294dfbcf19b4b4da5a6895eaa3">__init__</a> (self, tau=-float('inf'))</td></tr>
+<tr class="separator:a8951b0294dfbcf19b4b4da5a6895eaa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8951b0294dfbcf19b4b4da5a6895eaa3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8951b0294dfbcf19b4b4da5a6895eaa3">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>-float('inf')</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece pca class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob.
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+
+Args:
+    img: A mask image.
+
+Returns:
+    dict: A dict saving centerized points, main vectors.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute PCA feature from the raw puzzle data.
+
+Args:
+    piece: A puzzleTemplate instance saving a passed puzzle piece's info
+
+Returns:
+    The rotation of the main vector.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: The degree distance between passed puzzle piece data and stored puzzle piece. (counter-clockwise)
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="pca_8py.html">pca.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Board Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">__init__</a>(self, argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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+</body>
+</html>
diff --git a/docs/classpuzzle_1_1board_1_1Board.html b/docs/classpuzzle_1_1board_1_1Board.html
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Board Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1board_1_1Board-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Board Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class description for a board, which is a locality sensitive bag.  
+ <a href="classpuzzle_1_1board_1_1Board.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for Board:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1board_1_1Board__inherit__graph.png" border="0" usemap="#Board_inherit__map" alt="Inheritance graph"/></div>
+<map name="Board_inherit__map" id="Board_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" title="Arrangement" alt="" coords="5,80,101,107"/>
+<area shape="rect" id="node6" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html" title="A puzzle piece clustering method based on color. " alt="" coords="125,80,195,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title="Adjacent" alt="" coords="17,155,90,181"/>
+<area shape="rect" id="node4" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" title="Interlocking" alt="" coords="9,229,98,256"/>
+<area shape="rect" id="node5" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html" title="Puzzle type that is a set of interlocking puzzle pieces that get put together in a grid structure..." alt="" coords="20,304,87,331"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a9648918c8dd8b189801cd8f95bb7d3a7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">__init__</a> (self, argv)</td></tr>
+<tr class="memdesc:a9648918c8dd8b189801cd8f95bb7d3a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for puzzle board.  <a href="#a9648918c8dd8b189801cd8f95bb7d3a7">More...</a><br /></td></tr>
+<tr class="separator:a9648918c8dd8b189801cd8f95bb7d3a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55133e3f96f797b9ee5bfbd65147c964"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a> (self, piece, ORIGINAL_ID=False)</td></tr>
+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55cdbf47e8a71df471243ba64d7eddbb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a>)</td></tr>
+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8122acdbd37682b8309b4eb42e608edc"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a> (self)</td></tr>
+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad149341d7d849ff957baee565b19c123"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a> (self)</td></tr>
+<tr class="separator:ad149341d7d849ff957baee565b19c123"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe97b1af6e2d3d0b7c4c0b466c09d3a2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:afe97b1af6e2d3d0b7c4c0b466c09d3a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="#afe97b1af6e2d3d0b7c4c0b466c09d3a2">More...</a><br /></td></tr>
+<tr class="separator:afe97b1af6e2d3d0b7c4c0b466c09d3a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a84307917efa32a0a39add853ca2ed419"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a> (self, id)</td></tr>
+<tr class="memdesc:a84307917efa32a0a39add853ca2ed419"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get puzzle piece instance based on id.  <a href="#a84307917efa32a0a39add853ca2ed419">More...</a><br /></td></tr>
+<tr class="separator:a84307917efa32a0a39add853ca2ed419"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a506509f5e43fe4e2a5af20b068994191"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a> (self, indSetMeasured)</td></tr>
+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
+<tr class="memdesc:a7efb9317e5ccd2875d2d3caf45e618df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns list/array of puzzle piece locations.  <a href="#a7efb9317e5ccd2875d2d3caf45e618df">More...</a><br /></td></tr>
+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a> (self, newLabels, idContinue)</td></tr>
+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class description for a board, which is a locality sensitive bag. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9648918c8dd8b189801cd8f95bb7d3a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9648918c8dd8b189801cd8f95bb7d3a7">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for puzzle board. </p>
+<p>Can pass contents at instantiation time or delay until later.</p>
+<p>Args: *argv: The input params. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a55133e3f96f797b9ee5bfbd65147c964"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55133e3f96f797b9ee5bfbd65147c964">&#9670;&nbsp;</a></span>addPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ORIGINAL_ID</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add puzzle piece instance to the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Puzzle piece instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ORIGINAL_ID</td><td>Flag indicating where to keep piece ID or re-assign. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a55cdbf47e8a71df471243ba64d7eddbb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55cdbf47e8a71df471243ba64d7eddbb">&#9670;&nbsp;</a></span>addPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieces</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add puzzle piece to board. </p>
+
+</div>
+</div>
+<a id="a8122acdbd37682b8309b4eb42e608edc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8122acdbd37682b8309b4eb42e608edc">&#9670;&nbsp;</a></span>boundingBox()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def boundingBox </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Iterate through pieces to get tight bounding box. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">bbox</td><td>Bounding box coordinates: [[min x, min y], [max x, max y]] </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad149341d7d849ff957baee565b19c123"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad149341d7d849ff957baee565b19c123">&#9670;&nbsp;</a></span>clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def clear </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Clear all the puzzle pieces from the board.
+</pre> 
+</div>
+</div>
+<a id="afe97b1af6e2d3d0b7c4c0b466c09d3a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe97b1af6e2d3d0b7c4c0b466c09d3a2">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Display the puzzle board as an image using matplot library. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">fh</td><td>Figure handle if available. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_DISPLAY</td><td>Flag indicating displaying ID or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">CONTOUR_DISPLAY</td><td>Flag indicating drawing contour or not.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">fh</td><td>Figure handle. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a87fbb7809c3e6e4d305d44ba2ccf9be9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87fbb7809c3e6e4d305d44ba2ccf9be9">&#9670;&nbsp;</a></span>display_mp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_mp </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Display the puzzle board as an image using matplot library. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">fh</td><td>Figure handle if available. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_DISPLAY</td><td>Flag indicating displaying ID or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">CONTOUR_DISPLAY</td><td>Flag indicating drawing contour or not.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">fh</td><td>Figure handle. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af683fb9f92e8e2c12148d7e5ff1f81f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af683fb9f92e8e2c12148d7e5ff1f81f4">&#9670;&nbsp;</a></span>extents()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extents </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Iterate through puzzle pieces to get tight bounding box extents of the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">lengths</td><td>Bounding box side lengths. [x,y] </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a84307917efa32a0a39add853ca2ed419"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a84307917efa32a0a39add853ca2ed419">&#9670;&nbsp;</a></span>getPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>Template</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get puzzle piece instance based on id. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">thePiece</td><td>Returns the puzzle piece matcing the ID (if exists) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a506509f5e43fe4e2a5af20b068994191"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a506509f5e43fe4e2a5af20b068994191">&#9670;&nbsp;</a></span>markMissing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def markMissing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>indSetMeasured</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Given set of indices to measured pieces, mark remaining as unmeasured. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">indSetMeasured</td><td>Index set indicating measured pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7efb9317e5ccd2875d2d3caf45e618df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7efb9317e5ccd2875d2d3caf45e618df">&#9670;&nbsp;</a></span>pieceLocations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pieceLocations </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns list/array of puzzle piece locations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">isCenter</td><td>Flag indicating whether the given location is for center. Otherwise, location returned is the upper left corner.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">pLocs</td><td>A dict of puzzle piece id &amp; location. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abeea55caeb9b7bd60eba4ad6f22c97db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abeea55caeb9b7bd60eba4ad6f22c97db">&#9670;&nbsp;</a></span>relabel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def relabel </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>newLabels</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>idContinue</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment. </p>
+<p>The relabel operation is to preserve label consistency over time for a board. That way, when plotting or displaying the board, the display is sensible amongst other reasons. The use of iContinue is to prevent an unassigned piece from displaying its original label that might duplicate a label reassignment or even be associated to a previously seen, but currently not seen, piece. Over the long term, we want the IDs to be unique, at least for the known pieces.</p>
+<p>The current approach does not care to handle birth/death outcomes that result in a new piece being assigned an ID matching that of a previously new/birthed piece that then disappeared/died.</p>
+<p>It is up to the calling context to ensure that the new ID labels are correct, and that the pieces missing labels should be given new IDs starting from idContinue.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">newLabels</td><td>Should be board index to new ID tuple list. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">idContinue</td><td>Index to continue from for unmatched pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac096fa774bcfaa8a77a817da18387cd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac096fa774bcfaa8a77a817da18387cd2">&#9670;&nbsp;</a></span>rmPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rmPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Remove puzzle piece instance from board
+
+@param[in]  id  ID label of piece to remove.</pre> 
+</div>
+</div>
+<a id="a6d620a10dad91cadcb542e6098ada619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d620a10dad91cadcb542e6098ada619">&#9670;&nbsp;</a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def size </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of pieces on the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">nPieces</td><td>Number of pieces on the board. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3095fcf90f75aca5219d31132f212c1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3095fcf90f75aca5219d31132f212c1a">&#9670;&nbsp;</a></span>testAdjacent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def testAdjacent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tauAdj</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check if two puzzle pieces are adjacent or not. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">id_A</td><td>Id of puzzle piece A. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">id_B</td><td>Id of puzzle piece B. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">tauAdj</td><td>Distance threshold for concluding adjacency.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">adjFlag</td><td>Flag indicating adjacency of the two pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad4dccb0a3f473b00b5e422d2c8165bde"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4dccb0a3f473b00b5e422d2c8165bde">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COLOR</em> = <code>(0,&#160;0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_COLOR</em> = <code>(255,&#160;255,&#160;255)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Uses puzzle piece locations to create an image for visualizing them. </p>
+<p>If given an image, then will place in it. Recommended to provide theImage &amp; BOUNDING_BOX option off. Currently, we have four cases:</p><ul>
+<li>Image provided &amp; BOUNDING_BOX off -&gt; An exact region is visible</li>
+<li>Image provided &amp; BOUNDING_BOX on -&gt; The visible region will be adjusted. Should have the same size image output.</li>
+<li>Image not provided &amp; BOUNDING_BOX off -&gt; May have some trouble if some region is out of the bounds (e.g., -2) then they will be shown on the other boundary.</li>
+<li>Image not provided &amp; BOUNDING_BOX on -&gt; A bounding box region is visible.</li>
+</ul>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td>Image to insert pieces into. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_DISPLAY</td><td>Flag indicating displaying ID or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">COLOR</td><td>Background color. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_COLOR</td><td>ID color. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">CONTOUR_DISPLAY</td><td>Flag indicating drawing contour or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">BOUNDING_BOX</td><td>Flag indicating outputting a bounding box area (with updated (0,0)) or not (with original (0,0)).</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">theImage</td><td>Rendered image. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a48452c4a0df1424e4061b1ff09201621"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48452c4a0df1424e4061b1ff09201621">&#9670;&nbsp;</a></span>id_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">id_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a21ddfcf7ee9df16a820d99deb4fda263"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21ddfcf7ee9df16a820d99deb4fda263">&#9670;&nbsp;</a></span>pieces</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieces</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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index 00000000..754dc36b
--- /dev/null
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgCorrespondences Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a5fdbe7ff06e5299c408581d874439257">buildColorMatchCV</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+   <div id="projectname">IVALab Python Libraries
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="classpuzzle_1_1board_1_1CfgCorrespondences-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgCorrespondences Class Reference</div>  </div>
+</div><!--header-->
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+<div class="dynheader">
+Inheritance diagram for CfgCorrespondences:</div>
+<div class="dyncontent">
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
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+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
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+          <td></td>
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+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
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+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5fdbe7ff06e5299c408581d874439257"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fdbe7ff06e5299c408581d874439257">&#9670;&nbsp;</a></span>buildColorMatchCV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildColorMatchCV </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a370d3df9068a77a0975e9769ed7b52cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a370d3df9068a77a0975e9769ed7b52cc">&#9670;&nbsp;</a></span>buildNearest()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildNearest </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.map b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.map
new file mode 100644
index 00000000..68e576ac
--- /dev/null
+++ b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.map
@@ -0,0 +1,3 @@
+<map id="CfgCorrespondences" name="CfgCorrespondences">
+<area shape="rect" id="node2" href="$classdetector_1_1Configuration_1_1AlgConfig.html" title="AlgConfig" alt="" coords="39,80,117,107"/>
+</map>
diff --git a/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.md5 b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.md5
new file mode 100644
index 00000000..162b0bae
--- /dev/null
+++ b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.md5
@@ -0,0 +1 @@
+b9d961d448519229ec0725d84ac48aa0
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diff --git a/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.png b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.png
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html">CorrespondenceParms</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1board_1_1CorrespondenceParms.html b/docs/classpuzzle_1_1board_1_1CorrespondenceParms.html
new file mode 100644
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@@ -0,0 +1,113 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CorrespondenceParms Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html">CorrespondenceParms</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1board_1_1CorrespondenceParms-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CorrespondenceParms Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1CorrespondenceParms.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abd7045ad8553e16c50a967b4d48b7f6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">any</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1board_1_1Correspondences-members.html b/docs/classpuzzle_1_1board_1_1Correspondences-members.html
new file mode 100644
index 00000000..01bbc198
--- /dev/null
+++ b/docs/classpuzzle_1_1board_1_1Correspondences-members.html
@@ -0,0 +1,100 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Correspondences Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">__init__</a>(self, theParams=CorrespondenceParms, initBoard=None)</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#a72fbf2f30085967560d93851fdf9fe6b">adapt</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 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>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a4a39973fb0707cf0768d4fc141a4b9d2">buildMatcher</a>(typeStr, matchConfig=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <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>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a99c3313040780a1d639658ec6a96daea">correspond</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#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><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>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3646c19ac3f11a78f94b5c226e114884">pAssignments</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#af8598bf34f1f2754aed14c35ad7da3af">pAssignments_rotation</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#a7edb71de22937abaab674842c4d8212d">process</a>(self, bMeas)</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#a69ecbb454afd7b49a65b76d8e4b4c63f">scoreTable</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#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</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#a135084fd94e679ce7869e01b693b1f5b">scoreType</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#ae3b4a5cae7c025003260aa58ef37f260">skipList</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1board_1_1Correspondences.html b/docs/classpuzzle_1_1board_1_1Correspondences.html
new file mode 100644
index 00000000..f427bd05
--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Correspondences Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<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><!--header-->
+<div class="contents">
+
+<p>Class that compares two boards and generates correspondences across them.  
+ <a href="classpuzzle_1_1board_1_1Correspondences.html#details">More...</a></p>
+<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="#a844aa6e971fec4c085891ac1ea0cd050">More...</a><br /></td></tr>
+<tr class="separator:a844aa6e971fec4c085891ac1ea0cd050"><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="#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform correspondence correction if sensible.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a99c3313040780a1d639658ec6a96daea"><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#a99c3313040780a1d639658ec6a96daea">correspond</a> (self)</td></tr>
+<tr class="memdesc:a99c3313040780a1d639658ec6a96daea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get correspondences based on the most recent measurement (contained).  <a href="#a99c3313040780a1d639658ec6a96daea">More...</a><br /></td></tr>
+<tr class="separator:a99c3313040780a1d639658ec6a96daea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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="#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="#a0ce58078687848aeeb74c0de5aef04dd">More...</a><br /></td></tr>
+<tr class="separator:a0ce58078687848aeeb74c0de5aef04dd"><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="#adb50fb92faf8f50eb95a8bccc5317b70">More...</a><br /></td></tr>
+<tr class="separator:adb50fb92faf8f50eb95a8bccc5317b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7edb71de22937abaab674842c4d8212d"><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#a7edb71de22937abaab674842c4d8212d">process</a> (self, bMeas)</td></tr>
+<tr class="memdesc:a7edb71de22937abaab674842c4d8212d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence pipeline to preserve identity of puzzle pieces.  <a href="#a7edb71de22937abaab674842c4d8212d">More...</a><br /></td></tr>
+<tr class="separator:a7edb71de22937abaab674842c4d8212d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4a39973fb0707cf0768d4fc141a4b9d2"><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#a4a39973fb0707cf0768d4fc141a4b9d2">buildMatcher</a> (typeStr, matchConfig=None)</td></tr>
+<tr class="separator:a4a39973fb0707cf0768d4fc141a4b9d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a234e609ac6d4c2c67c1b828d21299747"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a234e609ac6d4c2c67c1b828d21299747">boardEstimate</a></td></tr>
+<tr class="separator:a234e609ac6d4c2c67c1b828d21299747"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a390000acbb9c0eab381cd19270505526"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a390000acbb9c0eab381cd19270505526">boardMeasurement</a></td></tr>
+<tr class="separator:a390000acbb9c0eab381cd19270505526"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac64a7c833ba3a6027b7bc4269ecf210b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac64a7c833ba3a6027b7bc4269ecf210b">matcher</a></td></tr>
+<tr class="separator:ac64a7c833ba3a6027b7bc4269ecf210b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3646c19ac3f11a78f94b5c226e114884"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3646c19ac3f11a78f94b5c226e114884">pAssignments</a></td></tr>
+<tr class="separator:a3646c19ac3f11a78f94b5c226e114884"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8598bf34f1f2754aed14c35ad7da3af"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#af8598bf34f1f2754aed14c35ad7da3af">pAssignments_rotation</a></td></tr>
+<tr class="separator:af8598bf34f1f2754aed14c35ad7da3af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a69ecbb454afd7b49a65b76d8e4b4c63f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a69ecbb454afd7b49a65b76d8e4b4c63f">scoreTable</a></td></tr>
+<tr class="separator:a69ecbb454afd7b49a65b76d8e4b4c63f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4606f589063e9dd2d29744554ecc64"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a></td></tr>
+<tr class="separator:a1d4606f589063e9dd2d29744554ecc64"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a135084fd94e679ce7869e01b693b1f5b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a135084fd94e679ce7869e01b693b1f5b">scoreType</a></td></tr>
+<tr class="separator:a135084fd94e679ce7869e01b693b1f5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3b4a5cae7c025003260aa58ef37f260"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ae3b4a5cae7c025003260aa58ef37f260">skipList</a></td></tr>
+<tr class="separator:ae3b4a5cae7c025003260aa58ef37f260"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<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>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <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>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initBoard</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the board matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">solution</td><td>A solution/calibrated board instance. theParams: Any additional parameters in a structure. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Perform adaptation based on correspondence as applicable. </p>
+<p>If something special in the matching model depends on an underlying representation that is evolving over time and needs adaptation, then this is the place to implement. Adaptation differs from correction in that it may represent meta-parameters that support correspondence. These meta-parameters may need adjustment also. </p>
+
+</div>
+</div>
+<a id="a4a39973fb0707cf0768d4fc141a4b9d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a39973fb0707cf0768d4fc141a4b9d2">&#9670;&nbsp;</a></span>buildMatcher()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildMatcher </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>typeStr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchConfig</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Perform correspondence correction if sensible. </p>
+<p>If the correspondences rely on information that evolves in time and should be filtered or updated, this is where that gets implemented. Actions to occur here:</p>
+<ol type="1">
+<li>Update puzzle piece information (raw and feature).</li>
+<li>Relabel the measured board to reflect association with known pieces.</li>
+<li>Relabel status of estimated board to reflect status of (not) measured pieces. </li>
+</ol>
+
+</div>
+</div>
+<a id="a99c3313040780a1d639658ec6a96daea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a99c3313040780a1d639658ec6a96daea">&#9670;&nbsp;</a></span>correspond()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correspond </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get correspondences based on the most recent measurement (contained). </p>
+
+</div>
+</div>
+<a id="ac4072d8bdf7b51b32fdc6e6523f9cd6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4072d8bdf7b51b32fdc6e6523f9cd6b">&#9670;&nbsp;</a></span>greedyAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def greedyAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run the greedyAssignment for the score table. </p>
+<p>Args: scoreTable_shape: The score table for the pairwise comparison (shape). scoreTable_color: The score table for the pairwise comparison (color). scoreTable_edge_color: The score table for the pairwise comparison (edge_color).</p>
+<p>Returns: matched_id: The matched pair dict. </p>
+
+</div>
+</div>
+<a id="a0ce58078687848aeeb74c0de5aef04dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ce58078687848aeeb74c0de5aef04dd">&#9670;&nbsp;</a></span>hungarianAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def hungarianAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run Hungarian Assignment for the score table. </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">[out]</td><td class="paramname">matched_id</td><td>Matched pair dict. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="adb50fb92faf8f50eb95a8bccc5317b70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb50fb92faf8f50eb95a8bccc5317b70">&#9670;&nbsp;</a></span>matchPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def matchPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Match all the measured puzzle pieces with board prior in a pairwise manner to get meas to prior. </p>
+<p>Only gets matches, does not act on them.</p>
+<p>The matching outcome is internally stored in member variable (pAssignments). </p>
+
+</div>
+</div>
+<a id="a7edb71de22937abaab674842c4d8212d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7edb71de22937abaab674842c4d8212d">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bMeas</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run correspondence pipeline to preserve identity of puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">bMeas</td><td>Measured board. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a234e609ac6d4c2c67c1b828d21299747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a234e609ac6d4c2c67c1b828d21299747">&#9670;&nbsp;</a></span>boardEstimate</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">boardEstimate</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a390000acbb9c0eab381cd19270505526"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a390000acbb9c0eab381cd19270505526">&#9670;&nbsp;</a></span>boardMeasurement</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">boardMeasurement</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac64a7c833ba3a6027b7bc4269ecf210b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64a7c833ba3a6027b7bc4269ecf210b">&#9670;&nbsp;</a></span>matcher</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
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+<div class="memitem">
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+
+<div class="memitem">
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+          <td class="memname">pAssignments_rotation</td>
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+</div><div class="memdoc">
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">scoreTable</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1d4606f589063e9dd2d29744554ecc64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d4606f589063e9dd2d29744554ecc64">&#9670;&nbsp;</a></span>scoreTable_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">scoreTable_shape</td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a135084fd94e679ce7869e01b693b1f5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a135084fd94e679ce7869e01b693b1f5b">&#9670;&nbsp;</a></span>scoreType</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreType</td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae3b4a5cae7c025003260aa58ef37f260">&#9670;&nbsp;</a></span>skipList</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">skipList</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html
new file mode 100644
index 00000000..a295462b
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html
@@ -0,0 +1,114 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">adjacent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Adjacent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">__init__</a>(self, theBoard=[], theParams=CfgAdjacent)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">puzzle::board::Board.__init__</a>(self, argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
new file mode 100644
index 00000000..e586ae0e
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
@@ -0,0 +1,633 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Adjacent Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">adjacent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Adjacent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Adjacent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent__inherit__graph.png" border="0" usemap="#Adjacent_inherit__map" alt="Inheritance graph"/></div>
+<map name="Adjacent_inherit__map" id="Adjacent_inherit__map">
+<area shape="rect" id="node4" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" title="Interlocking" alt="" coords="9,229,98,256"/>
+<area shape="rect" id="node2" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" title="Arrangement" alt="" coords="5,80,101,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag. " alt="" coords="25,5,81,32"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Adjacent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent__coll__graph.png" border="0" usemap="#Adjacent_coll__map" alt="Collaboration graph"/></div>
+<map name="Adjacent_coll__map" id="Adjacent_coll__map">
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+<area shape="rect" id="node3" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag. " alt="" coords="25,5,81,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:abf251dca25f883392c156c721634a851"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a>)</td></tr>
+<tr class="separator:abf251dca25f883392c156c721634a851"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5a3fa76a9831e19483a5463e00ed0792"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
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+<tr class="separator:a1033331b270d7d903ef74690b7b844fa inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
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+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
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+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84307917efa32a0a39add853ca2ed419 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a> (theImage, theMask, theParams=None)</td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a453b1916e9e176841e6ff087b90fa3c0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a> (theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed35d4479db6b7728642a0fcde86067d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a> (theImage, theMask, theParams=None)</td></tr>
+<tr class="memdesc:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given an image and an image mask, parse both to recover the puzzle calibration/solution.  <a href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">More...</a><br /></td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a453b1916e9e176841e6ff087b90fa3c0 inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a> (theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0 inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed35d4479db6b7728642a0fcde86067d inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:aed35d4479db6b7728642a0fcde86067d inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abf251dca25f883392c156c721634a851"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf251dca25f883392c156c721634a851">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Constructor for the puzzle.builder.adjacent class.
+
+Args:
+    theBoard: The input board instance.
+    theParams: The params.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a5a3fa76a9831e19483a5463e00ed0792"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a3fa76a9831e19483a5463e00ed0792">&#9670;&nbsp;</a></span>processAdjacency()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def processAdjacency </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the solution board and determine what pieces are
+adjacent or "close enough." It will determine the adjacency
+matrix.
+
+Assume that adjacent matrix has been instantiated and what is
+needed is to populate its values with the correct ones.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a36fb9e2f41b90386b06c22779f628279"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36fb9e2f41b90386b06c22779f628279">&#9670;&nbsp;</a></span>adjMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">adjMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Member List</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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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgAdjacent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+</table></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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+</a> 1.8.13
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diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html
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index 00000000..cd136954
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgAdjacent Class 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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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+<a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
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+<p>Configuration setting specifier for Arrangement.  
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></td></tr>
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for Arrangement. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
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+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
+</div><!-- contents -->
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diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement-members.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement-members.html
new file mode 100644
index 00000000..9962623d
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement-members.html
@@ -0,0 +1,112 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">arrangement</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Arrangement Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">__init__</a>(self, theBoard=[], theParams=CfgArrangement)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">puzzle::board::Board.__init__</a>(self, argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
new file mode 100644
index 00000000..193e65be
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
@@ -0,0 +1,781 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Arrangement Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">arrangement</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Arrangement Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Arrangement:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement__inherit__graph.png" border="0" usemap="#Arrangement_inherit__map" alt="Inheritance graph"/></div>
+<map name="Arrangement_inherit__map" id="Arrangement_inherit__map">
+<area shape="rect" id="node3" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title="Adjacent" alt="" coords="17,155,90,181"/>
+<area shape="rect" id="node2" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag. " alt="" coords="25,5,81,32"/>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aa88b7c7429d23b7d2fa17ffc752a4ac9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a>)</td></tr>
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+<tr class="separator:a8003fb3af6c418c87aaa5deeaefc8993"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adc009ffd4994382a76fa9258606bb5cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a088c7873b1df5b3f93511981a15e04d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1033331b270d7d903ef74690b7b844fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
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+<tr class="separator:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84307917efa32a0a39add853ca2ed419 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa88b7c7429d23b7d2fa17ffc752a4ac9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa88b7c7429d23b7d2fa17ffc752a4ac9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle.builder.arrangement class.
+
+Args:
+    theBoard: A board instance.
+    theParams: The parameters.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a8003fb3af6c418c87aaa5deeaefc8993"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8003fb3af6c418c87aaa5deeaefc8993">&#9670;&nbsp;</a></span>corrections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def corrections </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in the same order as puzzle board list), provide
+the correction vector that would move them to the calibrated
+locations.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theVects: A dict of puzzle piece id &amp; vectors.
+</pre> 
+</div>
+</div>
+<a id="adc009ffd4994382a76fa9258606bb5cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc009ffd4994382a76fa9258606bb5cf">&#9670;&nbsp;</a></span>distances()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def distances </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in same order as puzzle board list), provide
+the distances between the locations and the calibrated
+locations.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theDists(A dict of puzzle piece id &amp; distance to the solution)
+</pre> 
+</div>
+</div>
+<a id="a28af6a62ec92db41480fa71b1f7780a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28af6a62ec92db41480fa71b1f7780a3">&#9670;&nbsp;</a></span>piecesInPlace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def piecesInPlace </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tauDist</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return boolean array indicating whether the piece is
+correctly in place or not.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theScores: A dict of id &amp; bool variable indicating whether the piece is correctly in place or not.
+</pre> 
+</div>
+</div>
+<a id="a088c7873b1df5b3f93511981a15e04d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a088c7873b1df5b3f93511981a15e04d8">&#9670;&nbsp;</a></span>scoreBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def scoreBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a puzzle board with in ordered correspondence with the
+calibrated puzzle board, in the same order as puzzle board
+list), provide a score for the distance between the puzzle
+piece locations and the calibrated locations.
+
+The score here is just the sum of the error norms (or the incorrect
+distance of the placed part to the true placement).
+
+Args:
+    theBoard: A puzzle board in 1-1 ordered correspondence with solution.
+
+Returns:
+    theScore: The score compared with the given board.
+</pre> 
+</div>
+</div>
+<a id="a1033331b270d7d903ef74690b7b844fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1033331b270d7d903ef74690b7b844fa">&#9670;&nbsp;</a></span>scoreByLocation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def scoreByLocation </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in same order as puzzle board list), provide a
+score for the distance between the locations and the
+calibrated locations.
+
+The score here is just the sum of the error norms (or the incorrect
+distance of the placed part to the true placement). The locations
+are assumed to be ordered according to puzzle piece ordering in the
+calibrated puzzle board.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theScore: The score for the current board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
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+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">arrangement</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgArrangement Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgArrangement Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">arrangement</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgArrangement Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for centroidMulti.  
+ <a href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgArrangement:</div>
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+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html">CfgCentMulti</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
+<tr class="separator:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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>
+</ul>
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+</a> 1.8.13
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+<title>IVALab Python Libraries: CfgGridded Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1gridded.html">gridded</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgGridded Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for gridded puzzle.  
+ <a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgGridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded__inherit__graph.png" border="0" usemap="#CfgGridded_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgGridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded__coll__graph.png" border="0" usemap="#CfgGridded_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a></td></tr>
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+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for gridded puzzle. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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="gridded_8py.html">gridded.py</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded-members.html b/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded-members.html
new file mode 100644
index 00000000..c92f8f5c
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded-members.html
@@ -0,0 +1,119 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1gridded.html">gridded</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Gridded Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">__init__</a>(self, theBoard=[], theParams=CfgGridded)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">puzzle::board::Board.__init__</a>(self, argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ec3ddc25b60f1e5edfc25d4be59ef7c">explodedPuzzle</a>(self, dx=100, dy=50, bgColor=(0, 0, 0))</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ba1825606cdadc883059651caa3ff4b">gc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ae966f34959f41c1d00847a5ba1f2be72">processInterlocking</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ad65dabaa6e7b1e099ff133733c7c4b7c">swapPuzzle</a>(self, num=100)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded.html b/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded.html
new file mode 100644
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+++ b/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Gridded Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1gridded.html">gridded</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1gridded_1_1Gridded-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Gridded Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Puzzle type that is a set of interlocking puzzle pieces that get put together in a grid structure.  
+ <a href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for Gridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1Gridded__inherit__graph.png" border="0" usemap="#Gridded_inherit__map" alt="Inheritance graph"/></div>
+<map name="Gridded_inherit__map" id="Gridded_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" title="Interlocking" alt="" coords="9,229,98,256"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title="Adjacent" alt="" coords="17,155,90,181"/>
+<area shape="rect" id="node4" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" title="Arrangement" alt="" coords="5,80,101,107"/>
+<area shape="rect" id="node5" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag. " alt="" coords="25,5,81,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Gridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1Gridded__coll__graph.png" border="0" usemap="#Gridded_coll__map" alt="Collaboration graph"/></div>
+<map name="Gridded_coll__map" id="Gridded_coll__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" title="Interlocking" alt="" coords="9,229,98,256"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title="Adjacent" alt="" coords="17,155,90,181"/>
+<area shape="rect" id="node4" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" title="Arrangement" alt="" coords="5,80,101,107"/>
+<area shape="rect" id="node5" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag. " alt="" coords="25,5,81,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a3188aacd9b5277570fecd3fef9e8a398"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a>)</td></tr>
+<tr class="memdesc:a3188aacd9b5277570fecd3fef9e8a398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the <a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">puzzle.builder.adjacent</a> class.  <a href="#a3188aacd9b5277570fecd3fef9e8a398">More...</a><br /></td></tr>
+<tr class="separator:a3188aacd9b5277570fecd3fef9e8a398"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ec3ddc25b60f1e5edfc25d4be59ef7c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ec3ddc25b60f1e5edfc25d4be59ef7c">explodedPuzzle</a> (self, dx=100, dy=50, bgColor=(0, 0, 0))</td></tr>
+<tr class="memdesc:a4ec3ddc25b60f1e5edfc25d4be59ef7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create an exploded version of the puzzle.  <a href="#a4ec3ddc25b60f1e5edfc25d4be59ef7c">More...</a><br /></td></tr>
+<tr class="separator:a4ec3ddc25b60f1e5edfc25d4be59ef7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad65dabaa6e7b1e099ff133733c7c4b7c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ad65dabaa6e7b1e099ff133733c7c4b7c">swapPuzzle</a> (self, num=100)</td></tr>
+<tr class="memdesc:ad65dabaa6e7b1e099ff133733c7c4b7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Randomly swap rLoc of two puzzle pieces for num times.  <a href="#ad65dabaa6e7b1e099ff133733c7c4b7c">More...</a><br /></td></tr>
+<tr class="separator:ad65dabaa6e7b1e099ff133733c7c4b7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td></tr>
+<tr class="memitem:a5acd7490889d1c67223d0378af8c5212 inherit pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a>)</td></tr>
+<tr class="separator:a5acd7490889d1c67223d0378af8c5212 inherit pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae966f34959f41c1d00847a5ba1f2be72 inherit pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td></tr>
+<tr class="memitem:abf251dca25f883392c156c721634a851 inherit pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a>)</td></tr>
+<tr class="separator:abf251dca25f883392c156c721634a851 inherit pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5a3fa76a9831e19483a5463e00ed0792 inherit pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a> (self)</td></tr>
+<tr class="separator:a5a3fa76a9831e19483a5463e00ed0792 inherit pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:aa88b7c7429d23b7d2fa17ffc752a4ac9 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a>)</td></tr>
+<tr class="separator:aa88b7c7429d23b7d2fa17ffc752a4ac9 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8003fb3af6c418c87aaa5deeaefc8993 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adc009ffd4994382a76fa9258606bb5cf inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28af6a62ec92db41480fa71b1f7780a3 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a> (self, pLoc, tauDist=None)</td></tr>
+<tr class="separator:a28af6a62ec92db41480fa71b1f7780a3 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a088c7873b1df5b3f93511981a15e04d8 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1033331b270d7d903ef74690b7b844fa inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a> (self, pLoc)</td></tr>
+<tr class="separator:a1033331b270d7d903ef74690b7b844fa inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">__init__</a> (self, argv)</td></tr>
+<tr class="memdesc:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for puzzle board.  <a href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">More...</a><br /></td></tr>
+<tr class="separator:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a> (self, piece, ORIGINAL_ID=False)</td></tr>
+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a>)</td></tr>
+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
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+<tr class="separator:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
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+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84307917efa32a0a39add853ca2ed419 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0 inherit pub_static_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0 inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a612ede47303cc97928fd7c36375994fb inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given an image and an image mask, parse both to recover the puzzle calibration/solution.  <a href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">More...</a><br /></td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4ba1825606cdadc883059651caa3ff4b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ba1825606cdadc883059651caa3ff4b">gc</a></td></tr>
+<tr class="separator:a4ba1825606cdadc883059651caa3ff4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td></tr>
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+<tr class="memitem:a3d0586935017c2f8e2f5d58ae16ed0ca inherit pub_attribs_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td></tr>
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+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Puzzle type that is a set of interlocking puzzle pieces that get put together in a grid structure. </p>
+<p>All rows/columns have same number of pieces.</p>
+<p>This class is an organized version of the interlocking class. Since the interlocking pieces lie on a regular grid, we can establish a relative ordering. If needed, it can be used for evaluating or interpreting a puzzle board and its correctness.</p>
+<p>It also includes a scoring mechanism to indicate how "close" a current solution would be to the calibrated solution. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3188aacd9b5277570fecd3fef9e8a398"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3188aacd9b5277570fecd3fef9e8a398">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the <a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">puzzle.builder.adjacent</a> class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theBoard</td><td>Input board instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html" title="Puzzle type that is a set of interlocking puzzle pieces that get put together in a grid structure...">Gridded</a> puzzle configuration instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an image with regions clearly separated by some color or threshold,
+    parse it to recover the puzzle calibration/solution. Can source alternative
+    detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data to create a
+puzzle board instance. That instance is the calibration/solution.
+
+@param[in]  theImage: The puzzle image data.
+@param[in]  theProcessor: The processing scheme.
+@param[in]  theDetector: The detector scheme.
+@param[in]  theParams   Gridded configuration instance.
+
+@return   thePuzzle   Gridded puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an image with regions clearly separated by some color or threshold,
+    parse it to recover the puzzle calibration/solution. Can source alternative
+    detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data to create a
+puzzle board instance. That instance is the calibration/solution.
+
+@param[in]  theImage:       Puzzle image data.
+@param[in]  theMask:        Puzzle mask data.
+@param[in]  theProcessor    Processing scheme.
+@param[in]  theDetector     Detector scheme.
+@param[in]  theParams       Gridded configuration instance.
+
+@return     thePuzzle   Gridded puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a4ec3ddc25b60f1e5edfc25d4be59ef7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ec3ddc25b60f1e5edfc25d4be59ef7c">&#9670;&nbsp;</a></span>explodedPuzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def explodedPuzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dx</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dy</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bgColor</em> = <code>(0,&#160;0,&#160;0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Create an exploded version of the puzzle. </p>
+<p>It is an image with no touching pieces.</p>
+<p>The value for an exploded puzzle image is that it can be used to generate a simulated puzzle scenario that can be passed to a puzzle solver. It can also be used to define a quasi-puzzle problem, where the objective is to place the pieces in grid ordering like the exploded view (without needing to interlock). Doing see keeps puzzle piece well separated for simple puzzle interpretation algorithms to rapidly parse.</p>
+<p>Currently, it is just explode but without changing the order. Otherwise, gc has to be updated too. Both the exploded puzzle image &amp; the exploded puzzle board.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">dx</td><td>Horizontal offset when exploding. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">dy</td><td>Vertical offset when exploding. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">bgColor</td><td>Background color to use in new regions.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">epImage</td><td>Image of exploded puzzle. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">epBoard</td><td>Board instance with exploded puzzle pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad65dabaa6e7b1e099ff133733c7c4b7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad65dabaa6e7b1e099ff133733c7c4b7c">&#9670;&nbsp;</a></span>swapPuzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def swapPuzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Randomly swap rLoc of two puzzle pieces for num times. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">num</td><td>The number of times to swap.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">epImage</td><td>Generated puzzle image. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">epBoard</td><td>Generated puzzle board. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">change_map</td><td>Ground truth change dict mapping (Old -&gt; New). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4ba1825606cdadc883059651caa3ff4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ba1825606cdadc883059651caa3ff4b">&#9670;&nbsp;</a></span>gc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3d0586935017c2f8e2f5d58ae16ed0ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d0586935017c2f8e2f5d58ae16ed0ca">&#9670;&nbsp;</a></span>ilMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ilMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="gridded_8py.html">gridded.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking-members.html">List of all members</a>  </div>
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+<p>Configuration setting specifier for centroidMulti.  
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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="interlocking_8py.html">interlocking.py</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking__inherit__graph.map b/docs/classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking__inherit__graph.map
new file mode 100644
index 00000000..dd23347f
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking__inherit__graph.map
@@ -0,0 +1,9 @@
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html
new file mode 100644
index 00000000..dc1dfa6c
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1interlocking.html">interlocking</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Interlocking Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">__init__</a>(self, theBoard=[], theParams=CfgInterlocking)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">puzzle::board::Board.__init__</a>(self, argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">display_cv</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ae966f34959f41c1d00847a5ba1f2be72">processInterlocking</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</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_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html
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+<title>IVALab Python Libraries: Interlocking Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Interlocking Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
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+<div class="dyncontent">
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+<area shape="rect" id="node2" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title="Adjacent" alt="" coords="17,155,90,181"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking__coll__graph.png" border="0" usemap="#Interlocking_coll__map" alt="Collaboration graph"/></div>
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+<tr class="memitem:a5acd7490889d1c67223d0378af8c5212"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a>)</td></tr>
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+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84307917efa32a0a39add853ca2ed419 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a612ede47303cc97928fd7c36375994fb inherit pub_static_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd inherit pub_static_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5acd7490889d1c67223d0378af8c5212"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5acd7490889d1c67223d0378af8c5212">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle.builder.adjacent class.
+
+Args:
+    theBoard: The input board instance.
+    theParams: The params.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+</div>
+</div>
+<a id="ae966f34959f41c1d00847a5ba1f2be72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae966f34959f41c1d00847a5ba1f2be72">&#9670;&nbsp;</a></span>processInterlocking()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def processInterlocking </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the solution board and determine what pieces are
+       interlocking or adjacent.
+
+       Some pieces might be close to each other but not really
+       interlocking.  Mostly this happens at the corners, but maybe there
+       are weird puzzles that can be thought of with a mix of adjacent and
+       interlocking.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3d0586935017c2f8e2f5d58ae16ed0ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d0586935017c2f8e2f5d58ae16ed0ca">&#9670;&nbsp;</a></span>ilMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ilMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="interlocking_8py.html">interlocking.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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index 00000000..20b12de9
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters.html">clusters</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">ByColor Member List</div>  </div>
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+<div class="contents">
+
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ad74507e4393158284b56c876aac83968">feaLabel</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a48211a50087ed0aaf3f13f54fac31708">feaLabel_dict</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a54c048cb58bd1fa076182d199e23d927">feature</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a39b0f1cb6106834fa7ebde4161d32bb3">feature_dict</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a84307917efa32a0a39add853ca2ed419">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a3b47e8ab401734b29a5e8352cd19247c">process</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a751cecd26ec6f2d2baf279fb3596cc3d">score</a>(self, cluster_id_pred_dict, method='label')</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html b/docs/classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html
new file mode 100644
index 00000000..56cbfbb5
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+++ b/docs/classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: ByColor Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters.html">clusters</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ByColor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>A puzzle piece clustering method based on color.  
+ <a href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for ByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1clusters_1_1byColor_1_1ByColor__inherit__graph.png" border="0" usemap="#ByColor_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1clusters_1_1byColor_1_1ByColor__coll__graph.png" border="0" usemap="#ByColor_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a22f1563be721d914e89ef41efd3af7b1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a22f1563be721d914e89ef41efd3af7b1">__init__</a> (self, thePuzzle, extractor=Histogram(), theParams=<a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html">ParamColorCluster</a>)</td></tr>
+<tr class="memdesc:a22f1563be721d914e89ef41efd3af7b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the <a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a> class.  <a href="#a22f1563be721d914e89ef41efd3af7b1">More...</a><br /></td></tr>
+<tr class="separator:a22f1563be721d914e89ef41efd3af7b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b47e8ab401734b29a5e8352cd19247c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a3b47e8ab401734b29a5e8352cd19247c">process</a> (self)</td></tr>
+<tr class="memdesc:a3b47e8ab401734b29a5e8352cd19247c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Extract color features from the data.  <a href="#a3b47e8ab401734b29a5e8352cd19247c">More...</a><br /></td></tr>
+<tr class="separator:a3b47e8ab401734b29a5e8352cd19247c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a751cecd26ec6f2d2baf279fb3596cc3d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a751cecd26ec6f2d2baf279fb3596cc3d">score</a> (self, cluster_id_pred_dict, method='label')</td></tr>
+<tr class="memdesc:a751cecd26ec6f2d2baf279fb3596cc3d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Score the clustering result.  <a href="#a751cecd26ec6f2d2baf279fb3596cc3d">More...</a><br /></td></tr>
+<tr class="separator:a751cecd26ec6f2d2baf279fb3596cc3d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">__init__</a> (self, argv)</td></tr>
+<tr class="memdesc:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for puzzle board.  <a href="classpuzzle_1_1board_1_1Board.html#a9648918c8dd8b189801cd8f95bb7d3a7">More...</a><br /></td></tr>
+<tr class="separator:a9648918c8dd8b189801cd8f95bb7d3a7 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a> (self, piece, ORIGINAL_ID=False)</td></tr>
+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a>)</td></tr>
+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a> (self)</td></tr>
+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a> (self)</td></tr>
+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">More...</a><br /></td></tr>
+<tr class="separator:afe97b1af6e2d3d0b7c4c0b466c09d3a2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84307917efa32a0a39add853ca2ed419 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ab81b60de1b5b308e7e487d2af81e6369"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td></tr>
+<tr class="separator:ab81b60de1b5b308e7e487d2af81e6369"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad74507e4393158284b56c876aac83968"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ad74507e4393158284b56c876aac83968">feaLabel</a></td></tr>
+<tr class="separator:ad74507e4393158284b56c876aac83968"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a48211a50087ed0aaf3f13f54fac31708"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a48211a50087ed0aaf3f13f54fac31708">feaLabel_dict</a></td></tr>
+<tr class="separator:a48211a50087ed0aaf3f13f54fac31708"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a54c048cb58bd1fa076182d199e23d927"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a39b0f1cb6106834fa7ebde4161d32bb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A puzzle piece clustering method based on color. </p>
+<p>The feature extractor should be based on color. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a22f1563be721d914e89ef41efd3af7b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22f1563be721d914e89ef41efd3af7b1">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>extractor</em> = <code>Histogram()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html">ParamColorCluster</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the <a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a> class. </p>
+<p>Args: thePuzzle: The input puzzle board. extractor: A matcher instance. theParams: The param for threshold. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b47e8ab401734b29a5e8352cd19247c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b47e8ab401734b29a5e8352cd19247c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Extract color features from the data. </p>
+<p>Since this instance is a board, the presumption is that there is a measurement available in the stored board data. If there is nothing then there can be no clustering achieved. </p>
+
+</div>
+</div>
+<a id="a751cecd26ec6f2d2baf279fb3596cc3d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a751cecd26ec6f2d2baf279fb3596cc3d">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cluster_id_pred_dict</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>'label'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Score the clustering result. </p>
+<p>See <a href="https://scikit-learn.org/stable/modules/clustering.html#overview-of-clustering-methods">https://scikit-learn.org/stable/modules/clustering.html#overview-of-clustering-methods</a></p>
+<p>Args: cluster_id_pred_dict: The predicted cluster id for each piece. method: The method to score the clustering result. ['label', 'histogram']</p>
+<p>Returns: The score of the clustering result. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab81b60de1b5b308e7e487d2af81e6369"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab81b60de1b5b308e7e487d2af81e6369">&#9670;&nbsp;</a></span>feaExtractor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feaExtractor</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad74507e4393158284b56c876aac83968"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad74507e4393158284b56c876aac83968">&#9670;&nbsp;</a></span>feaLabel</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feaLabel</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a48211a50087ed0aaf3f13f54fac31708"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48211a50087ed0aaf3f13f54fac31708">&#9670;&nbsp;</a></span>feaLabel_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feaLabel_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a54c048cb58bd1fa076182d199e23d927"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54c048cb58bd1fa076182d199e23d927">&#9670;&nbsp;</a></span>feature</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feature</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a39b0f1cb6106834fa7ebde4161d32bb3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39b0f1cb6106834fa7ebde4161d32bb3">&#9670;&nbsp;</a></span>feature_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feature_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/clusters/<a class="el" href="byColor_8py.html">byColor.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters.html">clusters</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html">ParamColorCluster</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ParamColorCluster Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration parameter struct for <a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a> clustering.  
+ <a href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#details">More...</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration parameter struct for <a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a> clustering. </p>
+<p>There are two basic clustering approaches implemented. One is an agglomerative clustering method based on a distance threshold. The other is based on a target quantity of clusters or groupings. These are mutually exclusing implementations. </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6a1bb6ed41f44b60e7bd83b0e9945aa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a1bb6ed41f44b60e7bd83b0e9945aa7">&#9670;&nbsp;</a></span>float</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">float</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a61569f2965b7a369eb10b6d75d410d11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61569f2965b7a369eb10b6d75d410d11">&#9670;&nbsp;</a></span>int</h2>
+
+<div class="memitem">
+<div class="memproto">
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4b99ff73a8a869319570237b5c57ab03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b99ff73a8a869319570237b5c57ab03">&#9670;&nbsp;</a></span>str</h2>
+
+<div class="memitem">
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+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/clusters/<a class="el" href="byColor_8py.html">byColor.py</a></li>
+</ul>
+</div><!-- contents -->
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+</a> 1.8.13
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters.html">clusters</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters_1_1byShape.html">byShape</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html">ByShape</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ByShape Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html">ByShape</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a6c44576e02fde5d764d87b3e780c79e5">__init__</a>(self, thePuzzle, extractor=Moments(), theParams=ParamShapeCluster)</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html">ByShape</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html">ByShape</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a3b47e8ab401734b29a5e8352cd19247c">process</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html">ByShape</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html b/docs/classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html
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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>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ByShape Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for ByShape:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1clusters_1_1byShape_1_1ByShape__inherit__graph.png" border="0" usemap="#ByShape_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="memitem:a6c44576e02fde5d764d87b3e780c79e5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a6c44576e02fde5d764d87b3e780c79e5">__init__</a> (self, thePuzzle, extractor=Moments(), theParams=<a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html">ParamShapeCluster</a>)</td></tr>
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+<tr class="separator:a3b47e8ab401734b29a5e8352cd19247c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memitem:ab81b60de1b5b308e7e487d2af81e6369"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6c44576e02fde5d764d87b3e780c79e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c44576e02fde5d764d87b3e780c79e5">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>extractor</em> = <code>Moments()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html">ParamShapeCluster</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the byShape class.
+
+Args:
+    thePuzzle: The input puzzle board.
+    extractor: A matcher instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b47e8ab401734b29a5e8352cd19247c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b47e8ab401734b29a5e8352cd19247c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@ brief Extract shape features from the data.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab81b60de1b5b308e7e487d2af81e6369"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab81b60de1b5b308e7e487d2af81e6369">&#9670;&nbsp;</a></span>feaExtractor</h2>
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+      <table class="memname">
+        <tr>
+          <td class="memname">feaLabel</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a54c048cb58bd1fa076182d199e23d927"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54c048cb58bd1fa076182d199e23d927">&#9670;&nbsp;</a></span>feature</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feature</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/clusters/<a class="el" href="byShape_8py.html">byShape.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<tr class="separator:a72c60f4b326acd286ffa488c97bab330"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a123cb12e4694a2aebfcc779166a3c707"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adb50fb92faf8f50eb95a8bccc5317b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a587f19da30d4004e2549b169f75e08e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a78ff6f4ab9dda3bded60656e564ae667"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a78ff6f4ab9dda3bded60656e564ae667">assignmentMethod</a></td></tr>
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+<tr class="separator:af8598bf34f1f2754aed14c35ad7da3af"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae3b4a5cae7c025003260aa58ef37f260"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a72c60f4b326acd286ffa488c97bab330"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72c60f4b326acd286ffa488c97bab330">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solution</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html">ManagerParms</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece manager class.
+
+Args:
+    solution: A solution/calibrated board instance.
+    theParams: Any additional parameters in a structure.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac4072d8bdf7b51b32fdc6e6523f9cd6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4072d8bdf7b51b32fdc6e6523f9cd6b">&#9670;&nbsp;</a></span>greedyAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def greedyAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the greedyAssignment for the score table.
+
+Args:
+    scoreTable_shape:  The score table for the pairwise comparison (shape).
+    scoreTable_color:  The score table for the pairwise comparison (color).
+    scoreTable_edge_color: The score table for the pairwise comparison (edge_color).
+
+Returns:
+    matched_id: The matched pair dict.
+</pre> 
+</div>
+</div>
+<a id="a123cb12e4694a2aebfcc779166a3c707"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a123cb12e4694a2aebfcc779166a3c707">&#9670;&nbsp;</a></span>hungarianAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def hungarianAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the hungarianAssignment for the score table.
+
+Args:
+    scoreTable_shape:  The score table for the pairwise comparison (shape).
+    scoreTable_color:  The score table for the pairwise comparison (color).
+    scoreTable_edge_color: The score table for the pairwise comparison (edge_color).
+
+Returns:
+    matched_id: The matched pair dict.
+</pre> 
+</div>
+</div>
+<a id="adb50fb92faf8f50eb95a8bccc5317b70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb50fb92faf8f50eb95a8bccc5317b70">&#9670;&nbsp;</a></span>matchPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def matchPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Match all the measured puzzle pieces with the ground truth in a pairwise manner
+to get meas to sol.
+</pre> 
+</div>
+</div>
+<a id="ac8239ac6b7d8b19aa0729f8643e604bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8239ac6b7d8b19aa0729f8643e604bf">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the match based on the input.
+
+Args:
+    I: RGB image.
+    M: Mask image.
+    board: The measured board.
+</pre> 
+</div>
+</div>
+<a id="a587f19da30d4004e2549b169f75e08e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a587f19da30d4004e2549b169f75e08e6">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the tracking pipeline for image measurement or directly work
+on a measured board. Assume two modes: 1. I &amp; M or 2. A measured board.
+Args:
+    I: RGB image.
+    M: Mask image.
+    board: The measured board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a78ff6f4ab9dda3bded60656e564ae667"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78ff6f4ab9dda3bded60656e564ae667">&#9670;&nbsp;</a></span>assignmentMethod</h2>
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+          <td class="memname">assignmentMethod</td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a56e65504577431ccb6f0664dee7730e0">&#9670;&nbsp;</a></span>bMeas</h2>
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+<div class="memitem">
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+<h2 class="memtitle"><span class="permalink"><a href="#a3646c19ac3f11a78f94b5c226e114884">&#9670;&nbsp;</a></span>pAssignments</h2>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#af8598bf34f1f2754aed14c35ad7da3af">&#9670;&nbsp;</a></span>pAssignments_rotation</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">pAssignments_rotation</td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1d4606f589063e9dd2d29744554ecc64">&#9670;&nbsp;</a></span>scoreTable_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">scoreTable_shape</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a135084fd94e679ce7869e01b693b1f5b">&#9670;&nbsp;</a></span>scoreType</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3b4a5cae7c025003260aa58ef37f260"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3b4a5cae7c025003260aa58ef37f260">&#9670;&nbsp;</a></span>skipList</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae4bd085d10e18fd066c9ff3e6af72173">&#9670;&nbsp;</a></span>solution</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">solution</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="manager_8py.html">manager.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
index 00000000..ce74b380
--- /dev/null
+++ b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html
@@ -0,0 +1,114 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse.html">parse</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse_1_1fromLayer.html">fromLayer</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">FromLayer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a9fe5d48a7f4c6a7215fc6bc3b878d66a">__init__</a>(self, theParams=ParamPuzzle)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">trackpointer::centroidMulti::centroidMulti.__init__</a>(self, iPt=None, params=CfgCentMulti())</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a56e65504577431ccb6f0664dee7730e0">bMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd346864ab0ac7329fe17070130ee6c">display_cv</a>(self, I, ratio=None, window_name=&quot;track point &quot;)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">displayDebugState</a>(self, dbstate=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">displayState</a>(self, dstate=None, ax=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a992c10bd96bf4e32c10a25049cf99dff">findCorrectedContours</a>(self, mask, FILTER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">get</a>(self, fname)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#aa84287eb1924cb7327029582f9c35d4a">labelIm</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a863afb5e67e10e94b1f7b37bfd55d636">labelImage</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a3fe9e05edd4406903ae55bd7788c2dc2">mask2regions</a>(self, I, M, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a3b2484cc8a22705b2445b73498455ae6">measure</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">trackpointer::centroidMulti::centroidMulti.measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a8ff8655164e312e194327f31593cbe38">offset</a>(self, dp)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a49807f064f750d752afe06f69780ef03">pieceConstructor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a5addf66038843732afc1aa9419b7baaa">process</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">trackpointer::centroidMulti::centroidMulti.process</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">regionProposal</a>(I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a6f2734931a2e7b4a081647dfa26e9457">regions2pieces</a>(self, regions)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a6d6cfe637269a3be394964d5b1462edd">set</a>(self, fname, fval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">setIfMissing</a>(self, params, pname, pval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">setState</a>(self, dPt)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4878b4096cf3940de12940c8db25027b">tparams</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a34cf4ef155300b4e2ab8303af37669ce">tpt</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">trackProps</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#af6e79d6276dd4457be1bed016ac7cc28">transform</a>(self, g)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html
new file mode 100644
index 00000000..38b7db8f
--- /dev/null
+++ b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html
@@ -0,0 +1,537 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: FromLayer Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">FromLayer Class Reference</div>  </div>
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+<p>A basic detector class that processes a layered image (or mask and image) detection output.  
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+<div class="dynheader">
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+<tr class="separator:a34cf4ef155300b4e2ab8303af37669ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classtrackpointer_1_1centroidMulti_1_1centroidMulti"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classtrackpointer_1_1centroidMulti_1_1centroidMulti')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td></tr>
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+<tr class="separator:a34cf4ef155300b4e2ab8303af37669ce inherit pub_attribs_classtrackpointer_1_1centroidMulti_1_1centroidMulti"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a34cf4ef155300b4e2ab8303af37669ce inherit pub_attribs_classtrackpointer_1_1centroid_1_1centroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A basic detector class that processes a layered image (or mask and image) detection output. </p>
+<p>Converts all isolated regions into their own puzzle piece instances. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9fe5d48a7f4c6a7215fc6bc3b878d66a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fe5d48a7f4c6a7215fc6bc3b878d66a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html">ParamPuzzle</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece layer parsing class.
+
+Args:
+    theParams: The parameters.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a992c10bd96bf4e32c10a25049cf99dff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992c10bd96bf4e32c10a25049cf99dff">&#9670;&nbsp;</a></span>findCorrectedContours()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def findCorrectedContours </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>FILTER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Find the right contours given a binary mask image.
+
+Args:
+    mask: The input binary mask image.
+
+Returns:
+    desired_cnts: Contour list.
+</pre> 
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the track-pointer state. Override the original one.
+
+Returns:
+    tstate: The board measurement.
+</pre> 
+</div>
+</div>
+<a id="a3fe9e05edd4406903ae55bd7788c2dc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fe9e05edd4406903ae55bd7788c2dc2">&#9670;&nbsp;</a></span>mask2regions()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def mask2regions </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the selection mask into a bunch of regions.
+       Mainly based on findContours function.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+
+Returns:
+    regions: A list of regions (mask, segmented image, location in the source image).
+</pre> 
+</div>
+</div>
+<a id="a3b2484cc8a22705b2445b73498455ae6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b2484cc8a22705b2445b73498455ae6">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery to recover puzzle pieces and
+manage their track states.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<a id="a5addf66038843732afc1aa9419b7baaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5addf66038843732afc1aa9419b7baaa">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the tracking pipeline for image measurement.
+
+Args:
+    I: RGB image.
+    M: Mask image.
+</pre> 
+</div>
+</div>
+<a id="a6f2734931a2e7b4a081647dfa26e9457"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f2734931a2e7b4a081647dfa26e9457">&#9670;&nbsp;</a></span>regions2pieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def regions2pieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>regions</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the region information into puzzle pieces.
+
+Args:
+    regions: A list of region pairs (mask, segmented image, location in the source image).
+
+Returns:
+    pieces: A list of puzzle pieces instances.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a56e65504577431ccb6f0664dee7730e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56e65504577431ccb6f0664dee7730e0">&#9670;&nbsp;</a></span>bMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab26f73c3ff6d914bb322592c5b72fa4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab26f73c3ff6d914bb322592c5b72fa4c">&#9670;&nbsp;</a></span>haveMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a49807f064f750d752afe06f69780ef03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a49807f064f750d752afe06f69780ef03">&#9670;&nbsp;</a></span>pieceConstructor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieceConstructor</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a34cf4ef155300b4e2ab8303af37669ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34cf4ef155300b4e2ab8303af37669ce">&#9670;&nbsp;</a></span>tpt</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">tpt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/parse/<a class="el" href="fromLayer_8py.html">fromLayer.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+      <table class="memname">
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/parse/<a class="el" href="fromLayer_8py.html">fromLayer.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
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diff --git a/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch-members.html b/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
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+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript">
+$(function() {
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+</iframe>
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+
+<div id="nav-path" class="navpath">
+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">FromSketch Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html">FromSketch</a>, including all inherited members.</p>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</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:a72fbf2f30085967560d93851fdf9fe6b inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb 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="separator:ae41cd8a9eb2f382e6706d5418bee3c83 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest state.  <a href="classdetector_1_1base_1_1Base.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predict next state from current state.  <a href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the new incoming signal on full detection pipeline.  <a href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">More...</a><br /></td></tr>
+<tr class="separator:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for saving internal information to HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af6c7a3f709feb7b34c6dae656b07899a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6c7a3f709feb7b34c6dae656b07899a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the passed imagery to get the mask.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the passed imagery.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a349de2a2df5b78b837941b4cc2ad22e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a349de2a2df5b78b837941b4cc2ad22e3">&#9670;&nbsp;</a></span>Ip</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">Ip</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/parse/<a class="el" href="fromSketch_8py.html">fromSketch.py</a></li>
+</ul>
+</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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+</a> 1.8.13
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parse_1_1simple_1_1Simple-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Simple Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Simple:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parse_1_1simple_1_1Simple__inherit__graph.png" border="0" usemap="#Simple_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Simple:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parse_1_1simple_1_1Simple__coll__graph.png" border="0" usemap="#Simple_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ac2126adb99433d6a491cb620dbc71afe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#ac2126adb99433d6a491cb620dbc71afe">__init__</a> (self, theParams=None, theDetector=None, theTracker=None, theFilter=None)</td></tr>
+<tr class="memdesc:ac2126adb99433d6a491cb620dbc71afe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the simple puzzler parser.  <a href="#ac2126adb99433d6a491cb620dbc71afe">More...</a><br /></td></tr>
+<tr class="separator:ac2126adb99433d6a491cb620dbc71afe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process data from mask layer and image.  <a href="#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a1f45766bf9d26c6a86fae753e9f7f94f">process</a> (self, <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="separator:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:af1a4e96c5447617fcb2e6d9c1739aab9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af1a4e96c5447617fcb2e6d9c1739aab9">buildBasicPipeline</a> ()</td></tr>
+<tr class="separator:af1a4e96c5447617fcb2e6d9c1739aab9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+Public Attributes</h2></td></tr>
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+<tr class="memitem:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a></td></tr>
+<tr class="separator:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a291536e8bf5e2f42dec8ed3f82b13487">Mask</a></td></tr>
+<tr class="separator:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac2126adb99433d6a491cb620dbc71afe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2126adb99433d6a491cb620dbc71afe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFilter</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the simple puzzler parser. </p>
+<dl class="section note"><dt>Note</dt><dd>Lacks filter implementation.</dd></dl>
+<p>Args: theDetector: The detector instance. theTracker: The tracker instance. theParams: The parameters. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af1a4e96c5447617fcb2e6d9c1739aab9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1a4e96c5447617fcb2e6d9c1739aab9">&#9670;&nbsp;</a></span>buildBasicPipeline()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildBasicPipeline </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief      Creates a simple puzzle parser employing a very basic
+    (practically trivial) processing pipeline for
+</pre> 
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process data from mask layer and image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Puzzle image source. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Puzzle template mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery.
+
+Args:
+    I:  The puzzle image source.
+    M:  The puzzle template mask.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af3184e6d3aac51d64ce9a9af9571c9c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3184e6d3aac51d64ce9a9af9571c9c0">&#9670;&nbsp;</a></span>board</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">board</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88bf86be51ede2d7c2f01f43fd319476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveObs</td>
+        </tr>
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+
+</div>
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+<a id="aead43b6d6d069fa7308f0fd73166ef79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aead43b6d6d069fa7308f0fd73166ef79">&#9670;&nbsp;</a></span>haveRun</h2>
+
+<div class="memitem">
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+          <td class="memname">haveRun</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8d45eb075e342eaee415087ca2aa40f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d45eb075e342eaee415087ca2aa40f9">&#9670;&nbsp;</a></span>haveState</h2>
+
+<div class="memitem">
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+
+</div>
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+<a id="a66cc12e3c6d68de3fef6de89cf033f67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66cc12e3c6d68de3fef6de89cf033f67">&#9670;&nbsp;</a></span>I</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">I</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a291536e8bf5e2f42dec8ed3f82b13487"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a291536e8bf5e2f42dec8ed3f82b13487">&#9670;&nbsp;</a></span>Mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/parse/<a class="el" href="puzzle__solver_2puzzle_2parse_2simple_8py.html">simple.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle">
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html">CfgCentMulti</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classtrackpointer_1_1centroidMulti_1_1CfgCentMulti"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
+<tr class="separator:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac51121e665d1bb05f6b0ce7b5201bc64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac51121e665d1bb05f6b0ce7b5201bc64">&#9670;&nbsp;</a></span>builtForPuzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def builtForPuzzles </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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="parser_8py.html">parser.py</a></li>
+</ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parser.html">parser</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">boardMeasure Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a2dd2b03bd87525590764483211ad1b3f">__init__</a>(self, params=CfgBoardMeasure())</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">trackpointer::centroidMulti::centroidMulti.__init__</a>(self, iPt=None, params=CfgCentMulti())</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a56e65504577431ccb6f0664dee7730e0">bMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd346864ab0ac7329fe17070130ee6c">display_cv</a>(self, I, ratio=None, window_name=&quot;track point &quot;)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">displayDebugState</a>(self, dbstate=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">displayState</a>(self, dstate=None, ax=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a992c10bd96bf4e32c10a25049cf99dff">findCorrectedContours</a>(self, mask, FILTER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">get</a>(self, fname)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#aa84287eb1924cb7327029582f9c35d4a">labelIm</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a863afb5e67e10e94b1f7b37bfd55d636">labelImage</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3fe9e05edd4406903ae55bd7788c2dc2">mask2regions</a>(self, I, M, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3b2484cc8a22705b2445b73498455ae6">measure</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">trackpointer::centroidMulti::centroidMulti.measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a8ff8655164e312e194327f31593cbe38">offset</a>(self, dp)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a49807f064f750d752afe06f69780ef03">pieceConstructor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a5addf66038843732afc1aa9419b7baaa">process</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">trackpointer::centroidMulti::centroidMulti.process</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">regionProposal</a>(I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a6f2734931a2e7b4a081647dfa26e9457">regions2pieces</a>(self, regions)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a6d6cfe637269a3be394964d5b1462edd">set</a>(self, fname, fval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">setIfMissing</a>(self, params, pname, pval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">setState</a>(self, dPt)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4878b4096cf3940de12940c8db25027b">tparams</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a34cf4ef155300b4e2ab8303af37669ce">tpt</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">trackProps</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#af6e79d6276dd4457be1bed016ac7cc28">transform</a>(self, g)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/classpuzzle_1_1parser_1_1boardMeasure.html b/docs/classpuzzle_1_1parser_1_1boardMeasure.html
new file mode 100644
index 00000000..217958f8
--- /dev/null
+++ b/docs/classpuzzle_1_1parser_1_1boardMeasure.html
@@ -0,0 +1,537 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: boardMeasure Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parser.html">parser</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parser_1_1boardMeasure-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">boardMeasure Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for boardMeasure:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardMeasure__inherit__graph.png" border="0" usemap="#boardMeasure_inherit__map" alt="Inheritance graph"/></div>
+<map name="boardMeasure_inherit__map" id="boardMeasure_inherit__map">
+<area shape="rect" id="node2" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html" title="centroidMulti" alt="" coords="9,155,105,181"/>
+<area shape="rect" id="node3" href="classtrackpointer_1_1centroid_1_1centroid.html" title="centroid" alt="" coords="23,80,91,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for boardMeasure:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardMeasure__coll__graph.png" border="0" usemap="#boardMeasure_coll__map" alt="Collaboration graph"/></div>
+<map name="boardMeasure_coll__map" id="boardMeasure_coll__map">
+<area shape="rect" id="node2" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html" title="centroidMulti" alt="" coords="9,155,105,181"/>
+<area shape="rect" id="node3" href="classtrackpointer_1_1centroid_1_1centroid.html" title="centroid" alt="" coords="23,80,91,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2dd2b03bd87525590764483211ad1b3f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2dd2b03bd87525590764483211ad1b3f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece layer parsing class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The parameters/config settings for the track pointer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a992c10bd96bf4e32c10a25049cf99dff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992c10bd96bf4e32c10a25049cf99dff">&#9670;&nbsp;</a></span>findCorrectedContours()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def findCorrectedContours </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>FILTER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Find the right contours given a binary mask image.
+
+@param[in]  mask    The input binary mask image.
+@param[in]  FILTER  Options (set to TRUE).
+
+@param[ou]  desired_cnts    Contour list.
+</pre> 
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return the track-pointer state. </p>
+<p>Override the original one.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">tstate</td><td>Return the board measurement track state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3fe9e05edd4406903ae55bd7788c2dc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fe9e05edd4406903ae55bd7788c2dc2">&#9670;&nbsp;</a></span>mask2regions()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def mask2regions </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the selection mask into a bunch of regions.
+   Mainly based on findContours function.
+
+Args:
+I:  RGB image.
+M:  Mask image.
+
+Returns:
+regions: A list of regions (mask, segmented image, location in the source image).
+</pre> 
+</div>
+</div>
+<a id="a3b2484cc8a22705b2445b73498455ae6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b2484cc8a22705b2445b73498455ae6">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process the passed imagery to recover puzzle pieces and manage their track states. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>RGB image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Mask image. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5addf66038843732afc1aa9419b7baaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5addf66038843732afc1aa9419b7baaa">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run the tracking pipeline for image measurement. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>RGB image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6f2734931a2e7b4a081647dfa26e9457"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f2734931a2e7b4a081647dfa26e9457">&#9670;&nbsp;</a></span>regions2pieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def regions2pieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>regions</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Convert the region information into puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">regions</td><td>List of region pairs (mask, segmented image, location in the source image).</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">pieces</td><td>List of puzzle pieces instances. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a56e65504577431ccb6f0664dee7730e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56e65504577431ccb6f0664dee7730e0">&#9670;&nbsp;</a></span>bMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab26f73c3ff6d914bb322592c5b72fa4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab26f73c3ff6d914bb322592c5b72fa4c">&#9670;&nbsp;</a></span>haveMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a49807f064f750d752afe06f69780ef03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a49807f064f750d752afe06f69780ef03">&#9670;&nbsp;</a></span>pieceConstructor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieceConstructor</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a34cf4ef155300b4e2ab8303af37669ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34cf4ef155300b4e2ab8303af37669ce">&#9670;&nbsp;</a></span>tpt</h2>
+
+<div class="memitem">
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+          <td class="memname">tpt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="parser_8py.html">parser.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parser.html">parser</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parser_1_1boardPerceive-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">boardPerceive Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>A simple perceiver for recovering puzzle pieces from a layer mask and an image.  
+ <a href="classpuzzle_1_1parser_1_1boardPerceive.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for boardPerceive:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardPerceive__inherit__graph.png" border="0" usemap="#boardPerceive_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for boardPerceive:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardPerceive__coll__graph.png" border="0" usemap="#boardPerceive_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ac2126adb99433d6a491cb620dbc71afe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ac2126adb99433d6a491cb620dbc71afe">__init__</a> (self, theParams=None, theDetector=None, theTracker=None, theFilter=None)</td></tr>
+<tr class="memdesc:ac2126adb99433d6a491cb620dbc71afe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the simple puzzler parser.  <a href="#ac2126adb99433d6a491cb620dbc71afe">More...</a><br /></td></tr>
+<tr class="separator:ac2126adb99433d6a491cb620dbc71afe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Preserve temporal consistency of track labels via data association.  <a href="#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process data from mask layer and image.  <a href="#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a1f45766bf9d26c6a86fae753e9f7f94f">process</a> (self, <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="separator:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:af3184e6d3aac51d64ce9a9af9571c9c0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#af3184e6d3aac51d64ce9a9af9571c9c0">board</a></td></tr>
+<tr class="separator:af3184e6d3aac51d64ce9a9af9571c9c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88bf86be51ede2d7c2f01f43fd319476"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td></tr>
+<tr class="separator:a88bf86be51ede2d7c2f01f43fd319476"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aead43b6d6d069fa7308f0fd73166ef79"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td></tr>
+<tr class="separator:aead43b6d6d069fa7308f0fd73166ef79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d45eb075e342eaee415087ca2aa40f9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a8d45eb075e342eaee415087ca2aa40f9">haveState</a></td></tr>
+<tr class="separator:a8d45eb075e342eaee415087ca2aa40f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a></td></tr>
+<tr class="separator:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a291536e8bf5e2f42dec8ed3f82b13487">Mask</a></td></tr>
+<tr class="separator:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A simple perceiver for recovering puzzle pieces from a layer mask and an image. </p>
+<p>If desired, can do piece association.</p>
+<p>Being a perceiver, there is flexibility in the implementation. There will be many ways to instantiate a simple puzzle perceiver.</p>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000017">Todo:</a></b></dt><dd>Create complete implementation with track filter. </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac2126adb99433d6a491cb620dbc71afe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2126adb99433d6a491cb620dbc71afe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFilter</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the simple puzzler parser. </p>
+<dl class="section note"><dt>Note</dt><dd>Lacks filter implementation.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>Perceiver parameters. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theDetector</td><td>Detector instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theTracker</td><td>Tracker instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theFilter</td><td>Filter instance (puzzle piece data association). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Preserve temporal consistency of track labels via data association. </p>
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process data from mask layer and image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Puzzle image source. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Puzzle template mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery.
+
+Args:
+  I:  The puzzle image source.
+  M:  The puzzle template mask.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af3184e6d3aac51d64ce9a9af9571c9c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3184e6d3aac51d64ce9a9af9571c9c0">&#9670;&nbsp;</a></span>board</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">board</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88bf86be51ede2d7c2f01f43fd319476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveObs</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aead43b6d6d069fa7308f0fd73166ef79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aead43b6d6d069fa7308f0fd73166ef79">&#9670;&nbsp;</a></span>haveRun</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveRun</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8d45eb075e342eaee415087ca2aa40f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d45eb075e342eaee415087ca2aa40f9">&#9670;&nbsp;</a></span>haveState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveState</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a66cc12e3c6d68de3fef6de89cf033f67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66cc12e3c6d68de3fef6de89cf033f67">&#9670;&nbsp;</a></span>I</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">I</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a291536e8bf5e2f42dec8ed3f82b13487"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a291536e8bf5e2f42dec8ed3f82b13487">&#9670;&nbsp;</a></span>Mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="parser_8py.html">parser.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+</ul>
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+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a0c3019616a355bfc2c285672272f5cc2">BOTTOM</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a9e61226c0b0143de70a8c52bcad2f316">LEFT</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#afd53bb4c86324b910e2ca50455a93df3">RIGHT</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a60336410c3401768b1eba127ce2b5003">TOP</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1EdgeDirection-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">EdgeDirection Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for EdgeDirection:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeDirection__inherit__graph.png" border="0" usemap="#EdgeDirection_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for EdgeDirection:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeDirection__coll__graph.png" border="0" usemap="#EdgeDirection_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
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+<tr class="memitem:a0c3019616a355bfc2c285672272f5cc2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a0c3019616a355bfc2c285672272f5cc2">BOTTOM</a> = 3</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief EdgeDirection used to keep track of the direction of edges
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0c3019616a355bfc2c285672272f5cc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c3019616a355bfc2c285672272f5cc2">&#9670;&nbsp;</a></span>BOTTOM</h2>
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+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+<h2 class="memtitle"><span class="permalink"><a href="#a9e61226c0b0143de70a8c52bcad2f316">&#9670;&nbsp;</a></span>LEFT</h2>
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+<div class="memitem">
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+<h2 class="memtitle"><span class="permalink"><a href="#afd53bb4c86324b910e2ca50455a93df3">&#9670;&nbsp;</a></span>RIGHT</h2>
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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>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html">EdgeType</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1EdgeType-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">EdgeType Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for EdgeType:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeType__inherit__graph.png" border="0" usemap="#EdgeType_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for EdgeType:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeType__coll__graph.png" border="0" usemap="#EdgeType_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ab9f8db62c251bf72f9d020b8b27b1fd0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#ab9f8db62c251bf72f9d020b8b27b1fd0">FLAT</a> = 3</td></tr>
+<tr class="separator:ab9f8db62c251bf72f9d020b8b27b1fd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4420eb171e366558baac5096d17a8e52"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a4420eb171e366558baac5096d17a8e52">IN</a> = 1</td></tr>
+<tr class="separator:a4420eb171e366558baac5096d17a8e52"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97b5e04ee9b2b052b49c96d5090b9f01"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a97b5e04ee9b2b052b49c96d5090b9f01">OUT</a> = 2</td></tr>
+<tr class="separator:a97b5e04ee9b2b052b49c96d5090b9f01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c7b7d7f0afb43d32bc29971b997c796"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a1c7b7d7f0afb43d32bc29971b997c796">UNDEFINED</a> = 0</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief EdgeType used to keep track of the type of edges
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab9f8db62c251bf72f9d020b8b27b1fd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab9f8db62c251bf72f9d020b8b27b1fd0">&#9670;&nbsp;</a></span>FLAT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int FLAT = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4420eb171e366558baac5096d17a8e52">&#9670;&nbsp;</a></span>IN</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
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+        </tr>
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+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a97b5e04ee9b2b052b49c96d5090b9f01">&#9670;&nbsp;</a></span>OUT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int OUT = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1c7b7d7f0afb43d32bc29971b997c796"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c7b7d7f0afb43d32bc29971b997c796">&#9670;&nbsp;</a></span>UNDEFINED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">int UNDEFINED = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</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="piece_8py.html">piece.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1piece_1_1Piece-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Piece Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+
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+<div class="memproto">
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+        <tr>
+          <td class="memname">def getBuilderFromString </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="piece_8py.html">piece.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<head>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
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+<div id="nav-path" class="navpath">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PieceStatus Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">INHAND</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">INVISIBLE</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">MEASURED</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3f2c7a0f5847128ef923f34bc6358618">TRACKED</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">UNKNOWN</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1piece_1_1PieceStatus.html b/docs/classpuzzle_1_1piece_1_1PieceStatus.html
new file mode 100644
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: PieceStatus Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1PieceStatus-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PieceStatus Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><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.  
+ <a href="classpuzzle_1_1piece_1_1PieceStatus.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for PieceStatus:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1PieceStatus__inherit__graph.png" border="0" usemap="#PieceStatus_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PieceStatus:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1PieceStatus__coll__graph.png" border="0" usemap="#PieceStatus_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
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+Static Public Attributes</h2></td></tr>
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+<tr class="separator:a3f2c7a0f5847128ef923f34bc6358618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a3f7f05081d274ef83ed669efc1c328"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">UNKNOWN</a> = 0</td></tr>
+<tr class="separator:a3a3f7f05081d274ef83ed669efc1c328"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><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. </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a036fc987ad0a2cd1ece72fb14bb10f86"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a036fc987ad0a2cd1ece72fb14bb10f86">&#9670;&nbsp;</a></span>GONE</h2>
+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int GONE = 5</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a08ddcbbc1b09a33f841630c00860700f">&#9670;&nbsp;</a></span>INHAND</h2>
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+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int INHAND = 3</td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div><div class="memdoc">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a718b72ffc0f00b4a77d117806c35a9db">&#9670;&nbsp;</a></span>INVISIBLE</h2>
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">int INVISIBLE = 4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1f3ff7b7c822ee18e3c9018b93766e5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f3ff7b7c822ee18e3c9018b93766e5a">&#9670;&nbsp;</a></span>MEASURED</h2>
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+  <tr>
+  <td class="mlabels-left">
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+        </tr>
+      </table>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3f2c7a0f5847128ef923f34bc6358618">&#9670;&nbsp;</a></span>TRACKED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3a3f7f05081d274ef83ed669efc1c328"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a3f7f05081d274ef83ed669efc1c328">&#9670;&nbsp;</a></span>UNKNOWN</h2>
+
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int UNKNOWN = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div><div class="memdoc">
+
+</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="piece_8py.html">piece.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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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+  <td id="projectalign" style="padding-left: 0.5em;">
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+</ul>
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+<table cellspacing="0" cellpadding="0">
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+ </tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
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+<title>IVALab Python Libraries: Regular Class Reference</title>
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+<tr class="memdesc:a0d9d50aee8666e4242f46920d7b9a5ea inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update template board puzzle piece based on association.  <a href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">More...</a><br /></td></tr>
+<tr class="separator:a0d9d50aee8666e4242f46920d7b9a5ea inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a093d817147278d440b80cf331713b75e"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a> (theMask, theImage, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a>, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a>)</td></tr>
+<tr class="separator:a093d817147278d440b80cf331713b75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aae2e31c92b3b4616d6d5df7f18c522a4">upgradeTemplate</a> (thePiece)</td></tr>
+<tr class="memdesc:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece. ">Template</a> instance, transfer to a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance.  <a href="#aae2e31c92b3b4616d6d5df7f18c522a4">More...</a><br /></td></tr>
+<tr class="separator:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1piece_1_1Template"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1piece_1_1Template')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td></tr>
+<tr class="memitem:a093d817147278d440b80cf331713b75e inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a> (theMask, theImage, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a>, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a>)</td></tr>
+<tr class="separator:a093d817147278d440b80cf331713b75e inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17e03c4e546a0c7ae44095be46f6a5a4 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a> (radius, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a17e03c4e546a0c7ae44095be46f6a5a4 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25595eb29f8cc161cad172dcc463dc18 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a> (<a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a25595eb29f8cc161cad172dcc463dc18 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a8231ad0a21bc69596626af4422816d17"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a8231ad0a21bc69596626af4422816d17">class_image</a></td></tr>
+<tr class="separator:a8231ad0a21bc69596626af4422816d17"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ef43ff5c6d42dacbc8ffd9c8cfdc189"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a4ef43ff5c6d42dacbc8ffd9c8cfdc189">edge</a></td></tr>
+<tr class="separator:a4ef43ff5c6d42dacbc8ffd9c8cfdc189"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b1b996ad21b500b2c823bb3ac48487a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a3b1b996ad21b500b2c823bb3ac48487a">filtered_harris_pts</a></td></tr>
+<tr class="separator:a3b1b996ad21b500b2c823bb3ac48487a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17919e0aaa24a25e6ed96f555f9d2cf2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a17919e0aaa24a25e6ed96f555f9d2cf2">rectangle_pts</a></td></tr>
+<tr class="separator:a17919e0aaa24a25e6ed96f555f9d2cf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9fef45f7bb20501084b965cd356bcd2d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a9fef45f7bb20501084b965cd356bcd2d">simple_harris_pts</a></td></tr>
+<tr class="separator:a9fef45f7bb20501084b965cd356bcd2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1piece_1_1Template"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1piece_1_1Template')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td></tr>
+<tr class="memitem:a12d1f7d73e10eb83236c3ffa4673d462 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td></tr>
+<tr class="separator:a12d1f7d73e10eb83236c3ffa4673d462 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0913a29cbdcb3f4881c6ccd812b48e5e inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td></tr>
+<tr class="separator:a0913a29cbdcb3f4881c6ccd812b48e5e inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf2488b95c97e0378c9bf49de3b50f28 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td></tr>
+<tr class="separator:acf2488b95c97e0378c9bf49de3b50f28 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a784fcaa5842051207864afbc7f3ecb8d inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">lifespan</a></td></tr>
+<tr class="separator:a784fcaa5842051207864afbc7f3ecb8d inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9dc2abe0bfe8497046692cdb09143d70 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td></tr>
+<tr class="separator:a9dc2abe0bfe8497046692cdb09143d70 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a015eb90e0de9f16e87bd149d4b9ce959 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">status</a></td></tr>
+<tr class="separator:a015eb90e0de9f16e87bd149d4b9ce959 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fb1c5cf58867b5bbc9a1b145a86f3a0 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a></td></tr>
+<tr class="separator:a2fb1c5cf58867b5bbc9a1b145a86f3a0 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>y</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a093d817147278d440b80cf331713b75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a093d817147278d440b80cf331713b75e">&#9670;&nbsp;</a></span>buildFromMaskAndImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromMaskAndImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a mask (individual) and an image of same base dimensions, use to
+instantiate a puzzle piece template.
+
+Args:
+    theMask: The individual mask.
+    theImage: The source image.
+    rLoc: The puzzle piece location in the whole image.
+
+Returns:
+    theRegular: The puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="adcd762a40ed7e6f36be723dc9ee92752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcd762a40ed7e6f36be723dc9ee92752">&#9670;&nbsp;</a></span>displayEdgeType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def displayEdgeType </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Display the edge type of the piece.
+</pre> 
+</div>
+</div>
+<a id="aed5219e329d1c20a9ff74a315433dba0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed5219e329d1c20a9ff74a315433dba0">&#9670;&nbsp;</a></span>rotatePiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotatePiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Rotate the regular puzzle piece
+
+Args:
+    theta: The rotation angle.
+
+Returns:
+    theRegular: The rotated regular piece.
+</pre> 
+</div>
+</div>
+<a id="a487bcf48ad330cb23410dc327e1e2f14"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a487bcf48ad330cb23410dc327e1e2f14">&#9670;&nbsp;</a></span>setEdgeType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setEdgeType </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>direction</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>type</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the type of the chosen edge.
+
+Args:
+    direction: The edge to be set up.
+    type: The type.
+</pre> 
+</div>
+</div>
+<a id="aae2e31c92b3b4616d6d5df7f18c522a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae2e31c92b3b4616d6d5df7f18c522a4">&#9670;&nbsp;</a></span>upgradeTemplate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def upgradeTemplate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePiece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Given a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece. ">Template</a> instance, transfer to a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">thePiece</td><td>Puzzle piece as a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece. ">Template</a> instance. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Puzzle</td><td>piece as a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8231ad0a21bc69596626af4422816d17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8231ad0a21bc69596626af4422816d17">&#9670;&nbsp;</a></span>class_image</h2>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4ef43ff5c6d42dacbc8ffd9c8cfdc189">&#9670;&nbsp;</a></span>edge</h2>
+
+<div class="memitem">
+<div class="memproto">
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+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a17919e0aaa24a25e6ed96f555f9d2cf2">&#9670;&nbsp;</a></span>rectangle_pts</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9fef45f7bb20501084b965cd356bcd2d">&#9670;&nbsp;</a></span>simple_harris_pts</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">simple_harris_pts</td>
+        </tr>
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+          <td class="memname">theta</td>
+        </tr>
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+</div><div class="memdoc">
+
+</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="piece_8py.html">piece.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Template Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ac775ee34451fdfa742b318538164070e">__init__</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a>(theMask, theImage, cLoc, rLoc=None, pieceStatus=PieceStatus.MEASURED)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a>(radius, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a>(size, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7dcd9bcafa6f1daa814aae4742e8ddcc">displace</a>(self, dr)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">display</a>(self, fh=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad724e6a85ff7dd46e58c0aff32904e79">genFeature</a>(self, theMatcher)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a85d25cc3b54deceae7aa48ca4152ffa4">getFeature</a>(self, theMatcher=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a82ff76c9ec19add60de3c9246cde499a">getMask</a>(self, theMask, offset=[0)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a443cbbade49d79201a98a443d5039714">placeInImage</a>(self, theImage, offset=[0, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">placeInImageAt</a>(self, theImage, rc, theta=None, isCenter=False, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">rotatePiece</a>(self, theta)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">setPlacement</a>(self, r, isOffset=False, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
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+<!-- start footer part -->
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
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+<p>Stores and encapsulates a template instance of a visual puzzle piece.  
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+<tr class="memitem:aad996d003561d8dbeaa5b8bd3ce11b1a"><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#aad996d003561d8dbeaa5b8bd3ce11b1a">setStatus</a> (self, theStatus)</td></tr>
+<tr class="separator:aad996d003561d8dbeaa5b8bd3ce11b1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619"><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#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7980ac02452465cec91c19514d041202"><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#a7980ac02452465cec91c19514d041202">toImage</a> (self)</td></tr>
+<tr class="separator:a7980ac02452465cec91c19514d041202"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9d50aee8666e4242f46920d7b9a5ea"><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#a0d9d50aee8666e4242f46920d7b9a5ea">update</a> (self, matchedPiece)</td></tr>
+<tr class="memdesc:a0d9d50aee8666e4242f46920d7b9a5ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update template board puzzle piece based on association.  <a href="#a0d9d50aee8666e4242f46920d7b9a5ea">More...</a><br /></td></tr>
+<tr class="separator:a0d9d50aee8666e4242f46920d7b9a5ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a093d817147278d440b80cf331713b75e"><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#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a> (theMask, theImage, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a>, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a>)</td></tr>
+<tr class="separator:a093d817147278d440b80cf331713b75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17e03c4e546a0c7ae44095be46f6a5a4"><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#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a> (radius, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a17e03c4e546a0c7ae44095be46f6a5a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25595eb29f8cc161cad172dcc463dc18"><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#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a> (<a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a25595eb29f8cc161cad172dcc463dc18"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><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#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a12d1f7d73e10eb83236c3ffa4673d462"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td></tr>
+<tr class="separator:a12d1f7d73e10eb83236c3ffa4673d462"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0913a29cbdcb3f4881c6ccd812b48e5e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td></tr>
+<tr class="separator:a0913a29cbdcb3f4881c6ccd812b48e5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf2488b95c97e0378c9bf49de3b50f28"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td></tr>
+<tr class="separator:acf2488b95c97e0378c9bf49de3b50f28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a784fcaa5842051207864afbc7f3ecb8d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">lifespan</a></td></tr>
+<tr class="separator:a784fcaa5842051207864afbc7f3ecb8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9dc2abe0bfe8497046692cdb09143d70"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td></tr>
+<tr class="separator:a9dc2abe0bfe8497046692cdb09143d70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a015eb90e0de9f16e87bd149d4b9ce959"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">status</a></td></tr>
+<tr class="separator:a015eb90e0de9f16e87bd149d4b9ce959"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fb1c5cf58867b5bbc9a1b145a86f3a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a></td></tr>
+<tr class="separator:a2fb1c5cf58867b5bbc9a1b145a86f3a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores and encapsulates a template instance of a visual puzzle piece. </p>
+<p>The language here is general, but the fact that it lives in the <a class="el" href="namespacepuzzle_1_1piece.html">puzzle.piece</a> namespace indicates that this class is strictly associated to puzzle pieces. As the base class, it probably implements the simplest, no frills version of a template puzzle piece. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>y</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a093d817147278d440b80cf331713b75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a093d817147278d440b80cf331713b75e">&#9670;&nbsp;</a></span>buildFromMaskAndImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromMaskAndImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a mask (individual) and an image of same base dimensions, use to
+instantiate a puzzle piece template.  Usually passed as cropped.
+
+@param[in] theMask      Mask of individual piece.
+@param[in] theImage     Source image with puzzle piece.
+@param[in] cLoc         Corner location of puzzle piece.
+
+@param[in] rLoc         Puzzle piece location [optional].
+@param[in] pieceStatus  Status of the puzzle piece [optional, def:MEASURED]
+
+Returns:
+    thePiece: The puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a17e03c4e546a0c7ae44095be46f6a5a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17e03c4e546a0c7ae44095be46f6a5a4">&#9670;&nbsp;</a></span>buildSphere()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSphere </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Build a sphere piece.
+
+Args:
+    radius: The radius of the sphere.
+    color: (3,). The RGB color.
+    rLoc: (x, y). The puzzle piece location in the whole image. x: left-to-right. y:top-to-down
+    The puzzle piece instance.
+
+Returns:
+    The puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a25595eb29f8cc161cad172dcc463dc18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25595eb29f8cc161cad172dcc463dc18">&#9670;&nbsp;</a></span>buildSquare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSquare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Build a square piece.
+
+@param[in] size     Side length of the square
+@param[in] color    The RGB color [size: (3,)]
+@param[in] rLoc     Puzzle piece location whole image [(x,y) - x: left-to-right. y:top-to-down]
+
+@return Puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a7dcd9bcafa6f1daa814aae4742e8ddcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dcd9bcafa6f1daa814aae4742e8ddcc">&#9670;&nbsp;</a></span>displace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def displace </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displace puzzle piece.
+
+@param[in]  dr          Displacement to apply.
+@param[in]  isCenter    Boolean flag indicating if r is center reference.
+</pre> 
+</div>
+</div>
+<a id="a5aca3f305a0734f62e4817f18b497e38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5aca3f305a0734f62e4817f18b497e38">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Display the puzzle piece contents in an image window.
+
+Args:
+    fh: The figure label/handle if available. (optional)
+
+Returns:
+    fh: The handle of the image.
+</pre> 
+</div>
+</div>
+<a id="ad724e6a85ff7dd46e58c0aff32904e79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad724e6a85ff7dd46e58c0aff32904e79">&#9670;&nbsp;</a></span>genFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def genFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMatcher</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob and then return the aligned rotation.
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+PCA is our default method which does not perform very well.
+
+Args:
+    img: A contour image.
+
+Returns:
+    theta: The aligned angle (degree).
+</pre> 
+</div>
+</div>
+<a id="a85d25cc3b54deceae7aa48ca4152ffa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85d25cc3b54deceae7aa48ca4152ffa4">&#9670;&nbsp;</a></span>getFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMatcher</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the feature vector of the puzzle piece. </p>
+<p>Assign if not defined based on passed matcher.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theMatcher</td><td>Optional but recommended argument that specifies the feature matching implementation. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a82ff76c9ec19add60de3c9246cde499a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a82ff76c9ec19add60de3c9246cde499a">&#9670;&nbsp;</a></span>getMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get an updated mask of the target.
+
+@param[in] theMask  Original mask of the target.
+@param[in] offset   Movement.
+
+Returns:
+    theMask: The updated mask of the target.
+</pre> 
+</div>
+</div>
+<a id="a443cbbade49d79201a98a443d5039714"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a443cbbade49d79201a98a443d5039714">&#9670;&nbsp;</a></span>placeInImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the puzzle piece into the image in the original location.
+
+@param[in] theImage     Source image to put puzzle piece into.
+@param[in] offset       Offset coordinates.
+
+@param[in] CONTOUR_DISPLAY  Flag indicating whether to display the contours.
+</pre> 
+</div>
+</div>
+<a id="a30ece36acb64b9d8cc4c477a2b347211"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30ece36acb64b9d8cc4c477a2b347211">&#9670;&nbsp;</a></span>placeInImageAt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImageAt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the puzzle piece into the image at the given location.
+
+Args:
+    theImage: The source image to put puzzle piece into.
+    rc: The coordinate location.
+    theta: The orientation of the puzzle piece (default = 0).
+    isCenter: The flag indicating whether the given location is for the center.
+    CONTOUR_DISPLAY: The flag indicating whether to display the contours.
+</pre> 
+</div>
+</div>
+<a id="aed5219e329d1c20a9ff74a315433dba0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed5219e329d1c20a9ff74a315433dba0">&#9670;&nbsp;</a></span>rotatePiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotatePiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Rotate the puzzle template instance by the given angle.
+
+Args:
+    theta: The rotated angle.
+
+Returns:
+    thePiece: A new puzzle template instance.
+</pre> 
+</div>
+</div>
+<a id="af7cfa5c8d148b6ce6d80b8959a51fe90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7cfa5c8d148b6ce6d80b8959a51fe90">&#9670;&nbsp;</a></span>setPlacement()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setPlacement </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>r</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isOffset</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Provide pixel placement location information.
+
+@param[in]  r           Location of puzzle piece "frame origin."
+@param[in]  isOffset    Boolean flag indicating whether placement is an offset (= Delta r).
+@param[in]  isCenter    Boolean flag indicating if r is center reference.
+</pre> 
+</div>
+</div>
+<a id="aad996d003561d8dbeaa5b8bd3ce11b1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad996d003561d8dbeaa5b8bd3ce11b1a">&#9670;&nbsp;</a></span>setStatus()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setStatus </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStatus</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6d620a10dad91cadcb542e6098ada619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d620a10dad91cadcb542e6098ada619">&#9670;&nbsp;</a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def size </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the dimensions of the puzzle piece image.
+
+Returns:
+    Dimensions of the puzzle piece image
+</pre> 
+</div>
+</div>
+<a id="a7980ac02452465cec91c19514d041202"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7980ac02452465cec91c19514d041202">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the puzzle piece image (cropped).
+
+Returns:
+    theImage: The puzzle piece image (cropped).
+</pre> 
+</div>
+</div>
+<a id="a0d9d50aee8666e4242f46920d7b9a5ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d9d50aee8666e4242f46920d7b9a5ea">&#9670;&nbsp;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchedPiece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update template board puzzle piece based on association. </p>
+<p>Performs the simplest of updates.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">matchedPiece</td><td>Latest matched measurement of a piece. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a12d1f7d73e10eb83236c3ffa4673d462"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12d1f7d73e10eb83236c3ffa4673d462">&#9670;&nbsp;</a></span>cLoc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cLoc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0913a29cbdcb3f4881c6ccd812b48e5e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0913a29cbdcb3f4881c6ccd812b48e5e">&#9670;&nbsp;</a></span>featVec</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">featVec</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acf2488b95c97e0378c9bf49de3b50f28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf2488b95c97e0378c9bf49de3b50f28">&#9670;&nbsp;</a></span>id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">id</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a784fcaa5842051207864afbc7f3ecb8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a784fcaa5842051207864afbc7f3ecb8d">&#9670;&nbsp;</a></span>lifespan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">lifespan</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9dc2abe0bfe8497046692cdb09143d70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9dc2abe0bfe8497046692cdb09143d70">&#9670;&nbsp;</a></span>rLoc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rLoc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a015eb90e0de9f16e87bd149d4b9ce959"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a015eb90e0de9f16e87bd149d4b9ce959">&#9670;&nbsp;</a></span>status</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">status</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aebf487f5d315cb61f0bd86455edff1fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aebf487f5d315cb61f0bd86455edff1fd">&#9670;&nbsp;</a></span>theta</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theta</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2fb1c5cf58867b5bbc9a1b145a86f3a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fb1c5cf58867b5bbc9a1b145a86f3a0">&#9670;&nbsp;</a></span>y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="piece_8py.html">piece.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge-members.html b/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge-members.html
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index 00000000..5def8d4e
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge-members.html
@@ -0,0 +1,94 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1edge.html">edge</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Edge Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ac1435dd11e9f9b6d5297fef4359b2d3b">__init__</a>(self, tau_shape=100, tau_color=400)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">puzzle::pieces::matcher::MatchDifferent.__init__</a>(self, theParams=CfgDifferent())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">colorFeaExtract</a>(piece, feaLength=300)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#af98041764b83d6f82b11d5084193f4d3">compare</a>(self, piece_A, piece_B, method='type')</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">puzzle::pieces::matcher::MatchDifferent.compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a9d4361310e3e223033db1f89377b319e">process</a>(self, piece, method=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ab7acfeb451527a04566cf59607a1ebd4">score</a>(self, piece_A, piece_B, method='type')</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">puzzle::pieces::matcher::MatchDifferent.score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ad6c227d398e139289685a4e1a0ce00ea">shapeFeaExtract</a>(piece, method=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge.html b/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Edge Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="MSearchResultsWindow">
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1edge.html">edge</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1edge_1_1Edge-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Edge Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Edge:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1edge_1_1Edge__inherit__graph.png" border="0" usemap="#Edge_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences. " alt="" coords="5,80,113,107"/>
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+<div class="dynheader">
+Collaboration diagram for Edge:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1edge_1_1Edge__coll__graph.png" border="0" usemap="#Edge_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ac1435dd11e9f9b6d5297fef4359b2d3b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ac1435dd11e9f9b6d5297fef4359b2d3b">__init__</a> (self, <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a>=100, <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a>=400)</td></tr>
+<tr class="separator:ac1435dd11e9f9b6d5297fef4359b2d3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af98041764b83d6f82b11d5084193f4d3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#af98041764b83d6f82b11d5084193f4d3">compare</a> (self, piece_A, piece_B, method='type')</td></tr>
+<tr class="memdesc:af98041764b83d6f82b11d5084193f4d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="#af98041764b83d6f82b11d5084193f4d3">More...</a><br /></td></tr>
+<tr class="separator:af98041764b83d6f82b11d5084193f4d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d4361310e3e223033db1f89377b319e"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a9d4361310e3e223033db1f89377b319e">process</a> (self, piece, method=None)</td></tr>
+<tr class="separator:a9d4361310e3e223033db1f89377b319e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab7acfeb451527a04566cf59607a1ebd4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ab7acfeb451527a04566cf59607a1ebd4">score</a> (self, piece_A, piece_B, method='type')</td></tr>
+<tr class="separator:ab7acfeb451527a04566cf59607a1ebd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a5f348e9d7fb987ca19e4677c6c47cf5d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">colorFeaExtract</a> (piece, feaLength=300)</td></tr>
+<tr class="separator:a5f348e9d7fb987ca19e4677c6c47cf5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad6c227d398e139289685a4e1a0ce00ea"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ad6c227d398e139289685a4e1a0ce00ea">shapeFeaExtract</a> (piece, method=None)</td></tr>
+<tr class="separator:ad6c227d398e139289685a4e1a0ce00ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a6703deaf4688efef5abb1cdfd135f6b6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a></td></tr>
+<tr class="separator:a6703deaf4688efef5abb1cdfd135f6b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a504dadb081a2d62655e614498f16dfcc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a></td></tr>
+<tr class="separator:a504dadb081a2d62655e614498f16dfcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac1435dd11e9f9b6d5297fef4359b2d3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac1435dd11e9f9b6d5297fef4359b2d3b">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau_shape</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau_color</em> = <code>400</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece edge class.
+150 for lab space/400 for RGB space.
+Args:
+    tau_shape: The threshold for the shape feature.
+    tau_color: The threshold for the color feature.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5f348e9d7fb987ca19e4677c6c47cf5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f348e9d7fb987ca19e4677c6c47cf5d">&#9670;&nbsp;</a></span>colorFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def colorFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>feaLength</em> = <code>300</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Extract the edge color feature from an input image of the edge.
+
+Args:
+    edge: An EdgeDes instance.
+    feaLength: The resized feature vector length setting.
+
+Returns:
+    colorFeaResizeList: The resized feature vector.
+</pre> 
+</div>
+</div>
+<a id="af98041764b83d6f82b11d5084193f4d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af98041764b83d6f82b11d5084193f4d3">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>'type'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare between two passed puzzle piece data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Template instance with a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Template instance with a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>Comparison method to use.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The comparison result (True/False). </dd></dl>
+
+</div>
+</div>
+<a id="a9d4361310e3e223033db1f89377b319e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d4361310e3e223033db1f89377b319e">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute features from the data.
+
+Args:
+    piece: A puzzle piece instance.
+    method: The method option.
+
+Returns:
+    The shape &amp; color feature vectors.
+</pre> 
+</div>
+</div>
+<a id="ab7acfeb451527a04566cf59607a1ebd4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7acfeb451527a04566cf59607a1ebd4">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>'type'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+    method: We use some built-in functions in similaritymeasures
+    (pcm/frechet_dist/area_between_two_curves/curve_length_measure/dtw)
+    or just the types of the edges.
+
+Returns:
+    distance_shape: The shape distance between the two passed data.
+    distance_color: The color distance between the two passed data.
+</pre> 
+</div>
+</div>
+<a id="ad6c227d398e139289685a4e1a0ce00ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6c227d398e139289685a4e1a0ce00ea">&#9670;&nbsp;</a></span>shapeFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def shapeFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Extract the edge shape feature from an input image of the edge.
+
+Args:
+    edge: An EdgeDes instance.
+    method: The comparison method, we have two modes: type or shape coords.
+
+Returns:
+    shapeFeaList: The list of teh shape feature.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6703deaf4688efef5abb1cdfd135f6b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6703deaf4688efef5abb1cdfd135f6b6">&#9670;&nbsp;</a></span>tau_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">tau_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a504dadb081a2d62655e614498f16dfcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a504dadb081a2d62655e614498f16dfcc">&#9670;&nbsp;</a></span>tau_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">tau_shape</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="edge_8py.html">edge.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgDistance Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</script>
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+  <div class="summary">
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+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgDistance Class Reference</div>  </div>
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+<div class="contents">
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+<p>Configuration setting specifier for distance matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgDistance:</div>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for distance matcher class.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for distance matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for distance matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+</div>
+</div><!-- top -->
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+  <div class="headertitle">
+<div class="title">CfgHistogramCV Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgHistogramCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for Histogram puzzle comparator class.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgHistogramCV:</div>
+<div class="dyncontent">
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+<tr class="memitem:ac79da5098a8e4042cf7929a551d86231"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#ac79da5098a8e4042cf7929a551d86231">build_for_RGB</a> ()</td></tr>
+<tr class="memdesc:ac79da5098a8e4042cf7929a551d86231"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines canned settings for RGB histogram matching.  <a href="#ac79da5098a8e4042cf7929a551d86231">More...</a><br /></td></tr>
+<tr class="separator:ac79da5098a8e4042cf7929a551d86231"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for Histogram puzzle comparator class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac79da5098a8e4042cf7929a551d86231"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac79da5098a8e4042cf7929a551d86231">&#9670;&nbsp;</a></span>build_for_RGB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def build_for_RGB </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+<p>Defines canned settings for RGB histogram matching. </p>
+<p>Prioritizes a bit efficiency over accuracy. 16 bins per channel = 4096 bins, if using Cartesian product and not separating coordinate-wise, in which case it would be 48 bins.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">theParams</td><td>Default parameters instance for RGB case. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: CfgMoments Class 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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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgMoments Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>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.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgMoments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments__inherit__graph.png" border="0" usemap="#CfgMoments_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgMoments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments__coll__graph.png" border="0" usemap="#CfgMoments_coll__map" alt="Collaboration graph"/></div>
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+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
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+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>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. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
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+</a> 1.8.13
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+</body>
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgPCA Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgPCA Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgPCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>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.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgPCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA__inherit__graph.png" border="0" usemap="#CfgPCA_inherit__map" alt="Inheritance graph"/></div>
+<map name="CfgPCA_inherit__map" id="CfgPCA_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class. " alt="" coords="5,229,99,256"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html" title="Configuration setting specifier for puzzle piece matcher class. " alt="" coords="7,155,97,181"/>
+<area shape="rect" id="node4" href="classdetector_1_1Configuration_1_1AlgConfig.html" title="AlgConfig" alt="" coords="13,80,91,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgPCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA__coll__graph.png" border="0" usemap="#CfgPCA_coll__map" alt="Collaboration graph"/></div>
+<map name="CfgPCA_coll__map" id="CfgPCA_coll__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class. " alt="" coords="5,229,99,256"/>
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+<area shape="rect" id="node4" href="classdetector_1_1Configuration_1_1AlgConfig.html" title="AlgConfig" alt="" coords="13,80,91,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a> (self, kwargs)</td></tr>
+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>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. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
index 00000000..73306d21
--- /dev/null
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Distance Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ab421c3f0984efd7d325a9e248b7b85fc">__init__</a>(self, theParams=CfgDistance())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ac77bfc6115e0703fa39a8f32fd556ce0">buildFromConfig</a>(matchConfig)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html
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index 00000000..96e2b1f4
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Distance Class 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>
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+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Distance Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Distance:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance__inherit__graph.png" border="0" usemap="#Distance_inherit__map" alt="Inheritance graph"/></div>
+<map name="Distance_inherit__map" id="Distance_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences. " alt="" coords="5,80,113,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Distance:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance__coll__graph.png" border="0" usemap="#Distance_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences. " alt="" coords="5,80,113,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ab421c3f0984efd7d325a9e248b7b85fc"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ab421c3f0984efd7d325a9e248b7b85fc">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a>())</td></tr>
+<tr class="memdesc:ab421c3f0984efd7d325a9e248b7b85fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the puzzle piece histogram class.  <a href="#ab421c3f0984efd7d325a9e248b7b85fc">More...</a><br /></td></tr>
+<tr class="separator:ab421c3f0984efd7d325a9e248b7b85fc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ac77bfc6115e0703fa39a8f32fd556ce0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ac77bfc6115e0703fa39a8f32fd556ce0">buildFromConfig</a> (matchConfig)</td></tr>
+<tr class="separator:ac77bfc6115e0703fa39a8f32fd556ce0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ab421c3f0984efd7d325a9e248b7b85fc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab421c3f0984efd7d325a9e248b7b85fc">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece histogram class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">tau</td><td>Threshold param to determine difference. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac77bfc6115e0703fa39a8f32fd556ce0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac77bfc6115e0703fa39a8f32fd556ce0">&#9670;&nbsp;</a></span>buildFromConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the puzzle centroid value.
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  Centroid "feature" vector.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html
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+<tr class="memitem:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a58a27c2bc56790fd04e4d2ff5a09744a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58a27c2bc56790fd04e4d2ff5a09744a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece histogram class.
+
+@param[in]  tau     Threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute histogram from the raw puzzle data.
+   See https://opencv-tutorial.readthedocs.io/en/latest/histogram/histogram.html
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out] Puzzle piece histogram.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__coll__graph.map
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__coll__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__coll__graph.md5
new file mode 100644
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__inherit__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__inherit__graph.map
new file mode 100644
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__inherit__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV__inherit__graph.md5
new file mode 100644
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+</script>
+<script type="text/javascript" src="menudata.js"></script>
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+</iframe>
+</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Moments Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a124e3f798ed3c5d27698bf9298317b48">__init__</a>(self, theParams=CfgMoments())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Moments Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
+</div>
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+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+<div class="header">
+  <div class="summary">
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+  <div class="headertitle">
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+<div class="contents">
+
+<p>Uses shape moments to establish similarity.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#details">More...</a></p>
+<div class="dynheader">
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+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses shape moments to establish similarity. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a124e3f798ed3c5d27698bf9298317b48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a124e3f798ed3c5d27698bf9298317b48">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece moments class.
+
+@param[in]  tau     Threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute moments from the raw puzzle data.
+
+
+See https://learnopencv.com/shape-matching-using-hu-moments-c-python/
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  huMoments: A list of huMoments value.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__coll__graph.map
new file mode 100644
index 00000000..b9f12fd6
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@@ -0,0 +1,4 @@
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index 00000000..e1ffc3be
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Uses pca to calculate rotation.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.png" border="0" usemap="#PCA_inherit__map" alt="Inheritance graph"/></div>
+<map name="PCA_inherit__map" id="PCA_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences. " alt="" coords="5,80,113,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__coll__graph.png" border="0" usemap="#PCA_coll__map" alt="Collaboration graph"/></div>
+<map name="PCA_coll__map" id="PCA_coll__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences. " alt="" coords="5,80,113,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a7fa705a637a5dbce734b39e7601099d9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a>())</td></tr>
+<tr class="memdesc:a7fa705a637a5dbce734b39e7601099d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the puzzle piece histogram class.  <a href="#a7fa705a637a5dbce734b39e7601099d9">More...</a><br /></td></tr>
+<tr class="separator:a7fa705a637a5dbce734b39e7601099d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses pca to calculate rotation. </p>
+<p>WHAT IS GOING ON HERE??? WHAT IS THE POINT OF THIS PARTICULAR MATCHER?? </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7fa705a637a5dbce734b39e7601099d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fa705a637a5dbce734b39e7601099d9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece histogram class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">tau</td><td>Threshold param to determine difference. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the puzzle centroid value.
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  The rotation of the main vector.
+</pre> 
+</div>
+</div>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob.
+
+
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+
+Args: img: A mask image.
+
+Returns: dict: A dict saving centerized points, main vectors.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] The degree distance between passed puzzle piece data and stored puzzle piece. (counter-clockwise)
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.map
new file mode 100644
index 00000000..6fc28f6f
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.map
@@ -0,0 +1,4 @@
+<map id="PCA" name="PCA">
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+<area shape="rect" id="node3" href="$classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="25,5,94,32"/>
+</map>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.md5
new file mode 100644
index 00000000..ae3e1cdb
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.png b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.png
new file mode 100644
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgSIFTCV Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgSIFTCV Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgSIFTCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for OpenCV SIFT matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgSIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__inherit__graph.png" border="0" usemap="#CfgSIFTCV_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__coll__graph.png" border="0" usemap="#CfgSIFTCV_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for OpenCV SIFT matcher class. </p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
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+<div class="memitem">
+<div class="memproto">
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+        <tr>
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+          <td></td>
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+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
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+          <td class="paramkey"></td>
+          <td></td>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
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+        </tr>
+        <tr>
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+</div><div class="memdoc">
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+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for similarity matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchSimilar_8py.html">matchSimilar.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchSimilar.html">matchSimilar</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SIFTCV Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#ae581b4d31baa917954a75fae33f50dcc">__init__</a>(self, theParams=CfgSIFTCV(), tau=10, theThreshMatch=0.5)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: SIFTCV Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchSimilar.html">matchSimilar</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SIFTCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Uses sift features to establish similarity.  
+ <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for SIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__inherit__graph.png" border="0" usemap="#SIFTCV_inherit__map" alt="Inheritance graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for SIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.png" border="0" usemap="#SIFTCV_coll__map" alt="Collaboration graph"/></div>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae581b4d31baa917954a75fae33f50dcc"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#ae581b4d31baa917954a75fae33f50dcc">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>(), tau=10, theThreshMatch=0.5)</td></tr>
+<tr class="memdesc:ae581b4d31baa917954a75fae33f50dcc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the puzzle piece sift class.  <a href="#ae581b4d31baa917954a75fae33f50dcc">More...</a><br /></td></tr>
+<tr class="separator:ae581b4d31baa917954a75fae33f50dcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute SIFT features from the raw puzzle data.  <a href="#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses sift features to establish similarity. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae581b4d31baa917954a75fae33f50dcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae581b4d31baa917954a75fae33f50dcc">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theThreshMatch</em> = <code>0.5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece sift class. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+
+Note that this code has additional calculations that estimate the transformation
+that will register or align the puzzle pieces.
+
+See references for idea behind this comparison:
+
+https://opencv24-python-tutorials.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_matcher/py_matcher.html
+and https://scikit-image.org/docs/dev/auto_examples/transform/plot_matching.html
+
+@todo   Establish whether the registration code should be here or elsewhere.  The reason for
+    being here is that it takes advantage of matching computations made to prevent
+    additional computations.
+@todo   Yet, these are done whether it is a match or not.  Better to not bother if not even
+    a match. Going to go with that by rearranging the code [2023/11/03]. Delete note
+    if acceptable.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Comparison result &amp; rotation angle(degree) &amp; other params.
+</pre> 
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compute SIFT features from the raw puzzle data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Puzzle piece to use.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">kp</td><td>SIFT keypoints. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">des</td><td>SIFT descriptor. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchSimilar_8py.html">matchSimilar.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
index 00000000..621b9476
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.map
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+</map>
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new file mode 100644
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+</script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgDifferent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for difference matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgDifferent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent__inherit__graph.png" border="0" usemap="#CfgDifferent_inherit__map" alt="Inheritance graph"/></div>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for difference matcher class.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for difference matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for difference matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</div><!-- contents -->
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+<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> 1.8.13
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgMatcher Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html
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+<title>IVALab Python Libraries: CfgMatcher Class 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>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
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+<script type="text/javascript" src="menu.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgMatcher Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for puzzle piece matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgMatcher:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher__inherit__graph.png" border="0" usemap="#CfgMatcher_inherit__map" alt="Inheritance graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
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+<tr class="memitem:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a> (self, kwargs)</td></tr>
+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for puzzle piece matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</div><!-- contents -->
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+</a> 1.8.13
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgSimilar Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#ace1cc7a0dcb390b76ef8ba07789f2cbd">dump</a>(self, kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html
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+<title>IVALab Python Libraries: CfgSimilar Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<script type="text/javascript">
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+</script>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgSimilar Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for similar matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgSimilar:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar__inherit__graph.png" border="0" usemap="#CfgSimilar_inherit__map" alt="Inheritance graph"/></div>
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78 inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ace1cc7a0dcb390b76ef8ba07789f2cbd inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for similarity matcher class.  <a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be inherit pub_static_methods_classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for similar matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for similarity matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">matcher</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">MatchDifferent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a>(self, theParams=CfgDifferent())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: MatchDifferent Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MatchDifferent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>The puzzle piece matching scores are based on differences.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for MatchDifferent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent__inherit__graph.png" border="0" usemap="#MatchDifferent_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent__coll__graph.png" border="0" usemap="#MatchDifferent_coll__map" alt="Collaboration graph"/></div>
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+<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:a167cf3fd320536cab56eee4e354352b1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>The puzzle piece matching scores are based on differences. </p>
+<p>Lower is better. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a167cf3fd320536cab56eee4e354352b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a167cf3fd320536cab56eee4e354352b1">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the difference matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The matcher configuration (optional). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare two puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>First puzzle piece. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Second puzzle piece.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Binary</td><td>indicator of similarity = not different (True = similar). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">matcher</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">MatchSimilar Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">__init__</a>(self, theParams=CfgSimilar())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: MatchSimilar Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MatchSimilar Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for MatchSimilar:</div>
+<div class="dyncontent">
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+<div class="dynheader">
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+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar__coll__graph.png" border="0" usemap="#MatchSimilar_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="20,5,89,32"/>
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+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="adde0bcc0b85a16e9f2e2ab48063a7e2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adde0bcc0b85a16e9f2e2ab48063a7e2f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece matchSimilar class.
+
+@param[in]  tau     Threshold param to determine similarity.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+
+@param[in]  piece_A     First puzzle piece.
+@param[in]  piece_B     Second puzzle piece.
+
+@param[out] Binary indicator of similarity (True = similar).
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Member List</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Matcher Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a>(self, theParams=CfgMatcher)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Matcher Class Reference</div>  </div>
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+<div class="contents">
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+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a441e675aded864250a1f120a905bcd75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a441e675aded864250a1f120a905bcd75">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The matcher configuration (optional). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare between two passed puzzle piece data. </p>
+<p>This member function should be overloaded.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Puzzle piece A instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Puzzle piece B instance.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Outcome</td><td>of matching classification, when function overloaded. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process raw puzzle piece data to obtain encoded description of piece. </p>
+<p>Use to recognize/associate the piece given new measurements. This member function should be overloaded.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Template instance saving a piece's info.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">featVec</td><td>The "feature" vector. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compute the score between two passed puzzle piece data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Template instance saving a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Template instance saving a piece's info.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Distance</td><td>of the feature vectors. (Overload if not proper). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
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+</html>
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+<title>IVALab Python Libraries: Member List</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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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1sift.html">sift</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Sift Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a096e091d7701946cc970e1b4b9ad695f">__init__</a>(self, tau=10, theThreshMatch=0.5)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">puzzle::pieces::matcher::MatchSimilar.__init__</a>(self, theParams=CfgSimilar())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">kpFeaExtract</a>(piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad3a096d493b8920d206b2a8b2f62816c">score</a>(self, yA, yB)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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diff --git a/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift.html b/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Sift Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+<script type="text/javascript" src="menu.js"></script>
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+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1sift.html">sift</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1sift_1_1Sift-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Sift Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Sift:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1sift_1_1Sift__inherit__graph.png" border="0" usemap="#Sift_inherit__map" alt="Inheritance graph"/></div>
+<map name="Sift_inherit__map" id="Sift_inherit__map">
+<area shape="rect" id="node2" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html" title="MatchSimilar" alt="" coords="5,80,104,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="20,5,89,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Sift:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1sift_1_1Sift__coll__graph.png" border="0" usemap="#Sift_coll__map" alt="Collaboration graph"/></div>
+<map name="Sift_coll__map" id="Sift_coll__map">
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+<area shape="rect" id="node3" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title="Matcher" alt="" coords="20,5,89,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a096e091d7701946cc970e1b4b9ad695f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a096e091d7701946cc970e1b4b9ad695f">__init__</a> (self, tau=10, <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ae24a660dcbbbe4ab500d1a6e7692947a">theThreshMatch</a>=0.5)</td></tr>
+<tr class="separator:a096e091d7701946cc970e1b4b9ad695f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3a096d493b8920d206b2a8b2f62816c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad3a096d493b8920d206b2a8b2f62816c">score</a> (self, yA, yB)</td></tr>
+<tr class="separator:ad3a096d493b8920d206b2a8b2f62816c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td></tr>
+<tr class="memitem:adde0bcc0b85a16e9f2e2ab48063a7e2f inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>())</td></tr>
+<tr class="separator:adde0bcc0b85a16e9f2e2ab48063a7e2f inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad47495c4c5052555b124c9648901c0fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">kpFeaExtract</a> (piece)</td></tr>
+<tr class="separator:ad47495c4c5052555b124c9648901c0fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae24a660dcbbbe4ab500d1a6e7692947a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ae24a660dcbbbe4ab500d1a6e7692947a">theThreshMatch</a></td></tr>
+<tr class="separator:ae24a660dcbbbe4ab500d1a6e7692947a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a096e091d7701946cc970e1b4b9ad695f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a096e091d7701946cc970e1b4b9ad695f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theThreshMatch</em> = <code>0.5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece sift class.
+
+Args:
+    tau: The threshold param to determine similarity for SIFT feature.
+    theThreshMatch: The threshold to determine match (0-1).
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+See https://opencv24-python-tutorials.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_matcher/py_matcher.html
+and https://scikit-image.org/docs/dev/auto_examples/transform/plot_matching.html
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    Comparison result &amp; rotation angle(degree) &amp; other params.
+</pre> 
+</div>
+</div>
+<a id="ad47495c4c5052555b124c9648901c0fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad47495c4c5052555b124c9648901c0fb">&#9670;&nbsp;</a></span>kpFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def kpFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute sift features from the raw puzzle data.
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    kp: The sift keypoints.
+    des: The sift descriptor.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="ad3a096d493b8920d206b2a8b2f62816c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3a096d493b8920d206b2a8b2f62816c">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>yA</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>yB</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    yA: A template instance saving a piece's info.
+    yB: A template instance saving a piece's info.
+
+Returns:
+    distance: The distance between the two passed puzzle piece data.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae24a660dcbbbe4ab500d1a6e7692947a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae24a660dcbbbe4ab500d1a6e7692947a">&#9670;&nbsp;</a></span>theThreshMatch</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theThreshMatch</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/pieces/<a class="el" href="sift_8py.html">sift.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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new file mode 100644
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new file mode 100644
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">RealSolverROS Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html">RealSolverROS</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a2d0cde796fa624140443ef40c8f2f34f">__init__</a>(self, theParams=ParamRunner)</td><td class="entry"><a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html">RealSolverROS</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ade55d4229f42284f7e3397f9b7819d4b">bClusterImage</a></td><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a8d2c1ff850bd34e3077458b7d409b479">calibrate</a>(self, theImageMea, visibleMask, hTracker_BEV, option=1, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a208d75fc3c64ff1c83c113a750c8103c">process</a>(self, theImageMea, visibleMask, hTracker_BEV, run_solver=True, planOnTrack=False, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td><td class="entry"></td></tr>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a8b3ac4080f6efaea8609e5cb84dac762">&#9670;&nbsp;</a></span>process_ROS()</h2>
+
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+          <td class="memname">def process_ROS </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker_BEV</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>run_solver</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>planOnTrack</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+<pre class="fragment">@brief Call the process function and publish the ROS message.
+
+Args:
+    theImageMea: The input image (from the surveillance system).
+    visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
+    hTracker_BEV: The location of the hand in the BEV.
+    run_solver: Run the solver or not.
+    planOnTrack: Plan on the tracked board or not.
+    verbose: If True, will display the detected measured pieces, from working or solution area.
+</pre> 
+</div>
+</div>
+<a id="a3b15409bbe03f81e3d0c40a8d28aa759"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b15409bbe03f81e3d0c40a8d28aa759">&#9670;&nbsp;</a></span>publish_ROS()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def publish_ROS </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Publish the ROS message for the runner.
+</pre> 
+</div>
+</div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+<div class="header">
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+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1runner_1_1ParamRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ParamRunner Class Reference</div>  </div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a9993320adb175b89e5500acf486a19c5">theCalibrated</a></td><td class="entry"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td><td class="entry"></td></tr>
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+<tr class="separator:a1e7c6ee711063155cb215db2fa11fe06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1dfc3130d871394a0ab620582c36545f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a1dfc3130d871394a0ab620582c36545f">thePrevImage</a></td></tr>
+<tr class="separator:a1dfc3130d871394a0ab620582c36545f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2e797c1a975adcc4279ba004f08a4728"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2e797c1a975adcc4279ba004f08a4728">theSolver</a></td></tr>
+<tr class="separator:a2e797c1a975adcc4279ba004f08a4728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2d0cde796fa624140443ef40c8f2f34f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d0cde796fa624140443ef40c8f2f34f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8d2c1ff850bd34e3077458b7d409b479"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d2c1ff850bd34e3077458b7d409b479">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker_BEV</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board from a rosbag for calibration.
+
+Args:
+    theImageMea: The input image (from the surveillance system).
+    visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
+    hTracker_BEV: The location of the hand in the BEV.
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle</pre> 
+</div>
+</div>
+<a id="ae152c55618cca6a2c6c4029fb5d013b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae152c55618cca6a2c6c4029fb5d013b4">&#9670;&nbsp;</a></span>clusterScore()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def clusterScore </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the clustering score of the current tracked board.
+
+Returns:
+    The clustering score.
+</pre> 
+</div>
+</div>
+<a id="ae10374fc92b3a04bf0b37e5bd2f38a17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae10374fc92b3a04bf0b37e5bd2f38a17">&#9670;&nbsp;</a></span>getMeaBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getMeaBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9e67bf7ef6b5ebd363e93bc810ef4f7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e67bf7ef6b5ebd363e93bc810ef4f7f">&#9670;&nbsp;</a></span>getSolBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getSolBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5c0b1fbbfcef2c96bb16d8d305994f0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c0b1fbbfcef2c96bb16d8d305994f0f">&#9670;&nbsp;</a></span>getTrackBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getTrackBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a208d75fc3c64ff1c83c113a750c8103c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a208d75fc3c64ff1c83c113a750c8103c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker_BEV</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>run_solver</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>planOnTrack</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the input from the surveillance system.
+It first obtain the measured pieces, which is categorized into the solution area pieces and the working area pieces.
+Then the solving plan is obtained.
+
+Args:
+    theImageMea: The input image (from the surveillance system).
+    visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
+    hTracker_BEV: The location of the hand in the BEV.
+    run_solver: Run the solver or not.
+    planOnTrack: Plan on the tracked board or not.
+    verbose: If True, will display the detected measured pieces, from working or solution area.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a71a513e1c39c80a8b05a13421b70cbce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71a513e1c39c80a8b05a13421b70cbce">&#9670;&nbsp;</a></span>progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>USE_MEASURED</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the status of the progress. (Return the ratio of the completed puzzle pieces)
+
+Note:
+It is different from the one we used for the simulator case. There is less information we have for this progress.
+It is not always true when the matching is wrong/rotation is not correct. So there are some false positives.
+
+Args:
+    USE_MEASURED: Use the measured board, otherwise use the tracked board.
+
+Returns:
+    thePercentage: The progress.
+</pre> 
+</div>
+</div>
+<a id="ae271d689c9f44a6d99d85c3c220ee998"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae271d689c9f44a6d99d85c3c220ee998">&#9670;&nbsp;</a></span>setClusterBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setClusterBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>target_board</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mode</em> = <code>'solution'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Set up the cluster board.
+       Two ways to support clustering stuff:
+       1) Use the solution board as the cluster board. You can track the progress in this way.
+       2) Use any board. But only give a one-time suggestion.
+
+Args:
+    mode: 'solution' or 'arbitrary', default is 'solution'.
+    target_board: the reference board for clustering. Can be any board at any time (does not have to be the solution one)
+
+Returns:</pre> 
+</div>
+</div>
+<a id="abe3437fd8d3cec471f3d3482f60ad09b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe3437fd8d3cec471f3d3482f60ad09b">&#9670;&nbsp;</a></span>setSolBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setSolBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Set up the solution board.
+
+Args:
+    input: A board/path/raw image.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ade55d4229f42284f7e3397f9b7819d4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade55d4229f42284f7e3397f9b7819d4b">&#9670;&nbsp;</a></span>bClusterImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bClusterImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa2f349dfee9b1110e25265d7e980da95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa2f349dfee9b1110e25265d7e980da95">&#9670;&nbsp;</a></span>bMeasImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeasImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7acda815669372e54df04fd4a4a491b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7acda815669372e54df04fd4a4a491b8">&#9670;&nbsp;</a></span>bSolImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bSolImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2118ff93d9d0097174c9ea0b60e3e362"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2118ff93d9d0097174c9ea0b60e3e362">&#9670;&nbsp;</a></span>bTrackImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bTrackImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0279d7cda5bb32a73334f852ed20136b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0279d7cda5bb32a73334f852ed20136b">&#9670;&nbsp;</a></span>bTrackImage_SolID</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bTrackImage_SolID</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a258276d7c190a682223160943e4b15da"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a258276d7c190a682223160943e4b15da">&#9670;&nbsp;</a></span>meaBoard</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">meaBoard</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9993320adb175b89e5500acf486a19c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9993320adb175b89e5500acf486a19c5">&#9670;&nbsp;</a></span>theCalibrated</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theCalibrated</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1e2c53b84ac462c31799a558c977e3c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e2c53b84ac462c31799a558c977e3c6">&#9670;&nbsp;</a></span>theClusterBoard</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theClusterBoard</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af190e1ce1d44ba0da831d0f0955b33eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af190e1ce1d44ba0da831d0f0955b33eb">&#9670;&nbsp;</a></span>theManager</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theManager</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1e7c6ee711063155cb215db2fa11fe06"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e7c6ee711063155cb215db2fa11fe06">&#9670;&nbsp;</a></span>thePlanner</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">thePlanner</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1dfc3130d871394a0ab620582c36545f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1dfc3130d871394a0ab620582c36545f">&#9670;&nbsp;</a></span>thePrevImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">thePrevImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2e797c1a975adcc4279ba004f08a4728"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e797c1a975adcc4279ba004f08a4728">&#9670;&nbsp;</a></span>theSolver</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theSolver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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="puzzle__solver_2puzzle_2runner_8py.html">runner.py</a></li>
+</ul>
+</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"/>
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+<tr class="separator:a7f74fa08368e1507f2fdb17749db5fb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:aeee9f371db14fda0de35d16324a167df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The base action class defines all the atomic actions that an agent can execute.
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1ad92c82f2971931548d590fbc4d42f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ad92c82f2971931548d590fbc4d42f5">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>loc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af5fd7a284c90e828412f7aa743b0f2d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5fd7a284c90e828412f7aa743b0f2d7">&#9670;&nbsp;</a></span>execute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def execute </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_label</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Execute an action given the action label and parameter
+
+TODO: currently assume all actions only take one parameter. What if some action in the future requires more? How to update the API?
+</pre> 
+</div>
+</div>
+<a id="a1563b389d668877f951bd0f221d07b18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1563b389d668877f951bd0f221d07b18">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>targetLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aee7a4c35e3232c131ff62b5866eb4a16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee7a4c35e3232c131ff62b5866eb4a16">&#9670;&nbsp;</a></span>pause()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pause </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7f74fa08368e1507f2fdb17749db5fb3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f74fa08368e1507f2fdb17749db5fb3">&#9670;&nbsp;</a></span>pick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pick </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a383ddb0dfd01e6e9d3ad33370089a5b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a383ddb0dfd01e6e9d3ad33370089a5b9">&#9670;&nbsp;</a></span>place()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def place </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a763b0d0d6cbb5a5a81692f474b6cff68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a763b0d0d6cbb5a5a81692f474b6cff68">&#9670;&nbsp;</a></span>ACTION_LABELS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ACTION_LABELS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada44531abffa3c4bd2074b126c2ecc5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada44531abffa3c4bd2074b126c2ecc5b">&#9670;&nbsp;</a></span>cache_piece</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_piece</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aeee9f371db14fda0de35d16324a167df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeee9f371db14fda0de35d16324a167df">&#9670;&nbsp;</a></span>loc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">loc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="action_8py.html">action.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html b/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1basic.html">basic</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Basic Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">__init__</a>(self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, shareFlag=True, theParams=ParamBasic)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">display</a>(self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a>(self, pVecs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a>(self, gt_pAssignments)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a>(self, pLocs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">takeAction</a>(self, plan, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a>(self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a>(self, pAssignments, piece_id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Basic Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1basic.html">basic</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Basic Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Basic:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1basic_1_1Basic__inherit__graph.png" border="0" usemap="#Basic_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" id="node2" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html" title="SimTimeLess" alt="" coords="5,80,108,107"/>
+<area shape="rect" id="node3" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html" title="SimTime" alt="" coords="19,155,94,181"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a068fca853e127e102fb6f725cd122f30"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">__init__</a> (self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a>=True, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1ParamBasic.html">ParamBasic</a>)</td></tr>
+<tr class="separator:a068fca853e127e102fb6f725cd122f30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2b6e950847ec6097e82dc265b335f76f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a> (self, piece)</td></tr>
+<tr class="separator:a2b6e950847ec6097e82dc265b335f76f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a815d623fa931dbb0d95b0b5448c13e30"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">display</a> (self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="separator:a815d623fa931dbb0d95b0b5448c13e30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28820e0ac8aa0a6360464bcf440f51b7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a> (self, pVecs)</td></tr>
+<tr class="separator:a28820e0ac8aa0a6360464bcf440f51b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4e9b83bd359a696c197da4862896054"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a> (self, gt_pAssignments)</td></tr>
+<tr class="separator:ac4e9b83bd359a696c197da4862896054"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b46589a39bc9fddbad77a99dccf3698"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a> (self, pLocs)</td></tr>
+<tr class="separator:a7b46589a39bc9fddbad77a99dccf3698"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad2e7b52c90b31229acc40514a755fffe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">takeAction</a> (self, plan, verbose=False)</td></tr>
+<tr class="separator:ad2e7b52c90b31229acc40514a755fffe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20a58a6ce42794105906aeedda3749db"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a> (self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="separator:a20a58a6ce42794105906aeedda3749db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a56b2abd19df4b0a660e46ab11e9e7c7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a> (self, pAssignments, piece_id)</td></tr>
+<tr class="separator:a56b2abd19df4b0a660e46ab11e9e7c7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:afa9e9838abb44338f7cbe41dc6f846d4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td></tr>
+<tr class="separator:afa9e9838abb44338f7cbe41dc6f846d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64aa603bc3c6c1587e7c6542452481ac"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td></tr>
+<tr class="separator:a64aa603bc3c6c1587e7c6542452481ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b74e4caa5ea81714e8a2e826474dc70"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td></tr>
+<tr class="separator:a4b74e4caa5ea81714e8a2e826474dc70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac0a6c1ac0e2a634305168519b4a4fa34"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td></tr>
+<tr class="separator:ac0a6c1ac0e2a634305168519b4a4fa34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74bb04c924794986ef19140c539e1de6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td></tr>
+<tr class="separator:a74bb04c924794986ef19140c539e1de6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fb893bb2be67c81a1e78623f2b4cd20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td></tr>
+<tr class="separator:a6fb893bb2be67c81a1e78623f2b4cd20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td></tr>
+<tr class="separator:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a068fca853e127e102fb6f725cd122f30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a068fca853e127e102fb6f725cd122f30">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSolution</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1ParamBasic.html">ParamBasic</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the class. Requires a puzzle board.
+
+Args:
+    thePuzzle: The puzzle board.
+    theSolution: The solution board.
+    thePlanner: The planner instance.
+    theFig: The figure handle to use.
+    shareFlag: Whether to share the board with the display.
+    theParams: The params.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2b6e950847ec6097e82dc265b335f76f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b6e950847ec6097e82dc265b335f76f">&#9670;&nbsp;</a></span>addPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Add puzzle piece instance to the board.
+
+Args:
+    piece: A puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a815d623fa931dbb0d95b0b5448c13e30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a815d623fa931dbb0d95b0b5448c13e30">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    theImage: The image to insert pieces into. (optional)
+    ID_DISPLAY: The flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: The flag indicating CONTOUR_DISPLAY or not.
+    BOUNDING_BOX: The flag indicating display with a limited bounding box region or not.
+</pre> 
+</div>
+</div>
+<a id="a28820e0ac8aa0a6360464bcf440f51b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28820e0ac8aa0a6360464bcf440f51b7">&#9670;&nbsp;</a></span>dragPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def dragPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pVecs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Moves pieces incrementally from where it is.
+
+Args:
+    pVecs: A dict of puzzle pieces ids and movement vector.
+</pre> 
+</div>
+</div>
+<a id="ac4e9b83bd359a696c197da4862896054"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4e9b83bd359a696c197da4862896054">&#9670;&nbsp;</a></span>progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>gt_pAssignments</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the status of the progress. (Return the ratio of the completed puzzle pieces)
+
+@note
+It is still a simplified function which assumes if a puzzle piece shares the
+same id occupies the same place, then it is completed.
+
+It is not always true when the rotation is not correct.
+
+Args:
+    gt_pAssignments: The ground truth assignment.
+
+Returns:
+    thePercentage: The progress.
+</pre> 
+</div>
+</div>
+<a id="ac096fa774bcfaa8a77a817da18387cd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac096fa774bcfaa8a77a817da18387cd2">&#9670;&nbsp;</a></span>rmPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rmPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Remove puzzle piece instance from the board.
+
+Args:
+    id: The puzzle piece id.
+</pre> 
+</div>
+</div>
+<a id="a7b46589a39bc9fddbad77a99dccf3698"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b46589a39bc9fddbad77a99dccf3698">&#9670;&nbsp;</a></span>setPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLocs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Sets the positions of pieces.
+
+Args:
+    pLocs: A dict of puzzle pieces ids and their locations.
+</pre> 
+</div>
+</div>
+<a id="ad2e7b52c90b31229acc40514a755fffe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2e7b52c90b31229acc40514a755fffe">&#9670;&nbsp;</a></span>takeAction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeAction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>plan</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Perform the plan.
+
+Args:
+    plan: A tuple (piece_id, piece_index, action_type, action_param)
+
+Returns:
+    finishFlag: Signal indicating the end of plan.
+</pre> 
+</div>
+</div>
+<a id="a20a58a6ce42794105906aeedda3749db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20a58a6ce42794105906aeedda3749db">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COLOR</em> = <code>(0,&#160;0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Uses puzzle piece locations to create an image for
+visualizing them.  If given an image, then will place in it.
+Args:
+    theImage: The image to insert pieces into. (optional)
+    theMask: The binary mask to remove hand/or other instances. (optional)
+    ID_DISPLAY: The flag indicating ID_DISPLAY or not.
+    COLOR: The color of the background.
+    CONTOUR_DISPLAY: The flag indicating CONTOUR_DISPLAY or not.
+    BOUNDING_BOX: The flag indicating display with a limited bounding box region or not.
+
+Returns:
+    theImage: The output image.
+</pre> 
+</div>
+</div>
+<a id="a56b2abd19df4b0a660e46ab11e9e7c7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56b2abd19df4b0a660e46ab11e9e7c7f">&#9670;&nbsp;</a></span>translateAction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def translateAction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pAssignments</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Translation based on the current match and self.matchSimulator
+
+Args:
+    pAssignments: The planner's match.
+    piece_id: Index of the piece in the planner's board.
+
+Returns:
+    piece_id: Updated ID of the piece.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="afa9e9838abb44338f7cbe41dc6f846d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa9e9838abb44338f7cbe41dc6f846d4">&#9670;&nbsp;</a></span>canvas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">canvas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a64aa603bc3c6c1587e7c6542452481ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64aa603bc3c6c1587e7c6542452481ac">&#9670;&nbsp;</a></span>fig</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">fig</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4b74e4caa5ea81714e8a2e826474dc70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b74e4caa5ea81714e8a2e826474dc70">&#9670;&nbsp;</a></span>matchSimulator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">matchSimulator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac0a6c1ac0e2a634305168519b4a4fa34"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0a6c1ac0e2a634305168519b4a4fa34">&#9670;&nbsp;</a></span>planner</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">planner</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a74bb04c924794986ef19140c539e1de6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74bb04c924794986ef19140c539e1de6">&#9670;&nbsp;</a></span>puzzle</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6fb893bb2be67c81a1e78623f2b4cd20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fb893bb2be67c81a1e78623f2b4cd20">&#9670;&nbsp;</a></span>shareFlag</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">shareFlag</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae4bd085d10e18fd066c9ff3e6af72173"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4bd085d10e18fd066c9ff3e6af72173">&#9670;&nbsp;</a></span>solution</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">solution</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="puzzle__solver_2puzzle_2simulator_2basic_8py.html">basic.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="dynsections.js"></script>
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+  <div class="headertitle">
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad66bc0f5c583c656635ef414d6a81c63">move</a>(self, param)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
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+<tr class="memitem:adb66f9faea15eef67bf92e207ec73de2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#adb66f9faea15eef67bf92e207ec73de2">place</a> (self, puzzle)</td></tr>
+<tr class="separator:adb66f9faea15eef67bf92e207ec73de2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1015afd7070b57994f1438312748d31"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#af1015afd7070b57994f1438312748d31">placeInImage</a> (self, img, offset=[0, CONTOUR_DISPLAY=False)</td></tr>
+<tr class="separator:af1015afd7070b57994f1438312748d31"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac54cdcc52a959a2dce7e11d8d3ca551"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#aac54cdcc52a959a2dce7e11d8d3ca551">rotate</a> (self, action_param)</td></tr>
+<tr class="separator:aac54cdcc52a959a2dce7e11d8d3ca551"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:af1dad5fc1e52e729b01ebb456cc72c47"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#af1dad5fc1e52e729b01ebb456cc72c47">buildSphereAgent</a> (radius, color, rLoc=None)</td></tr>
+<tr class="separator:af1dad5fc1e52e729b01ebb456cc72c47"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ed94a91dd0690fc6772dfb603c33620"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a9ed94a91dd0690fc6772dfb603c33620">buildSquareAgent</a> (size, color, rLoc=None)</td></tr>
+<tr class="separator:a9ed94a91dd0690fc6772dfb603c33620"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:afe63fea7be31b0200b496d08bc6b517d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">app</a></td></tr>
+<tr class="separator:afe63fea7be31b0200b496d08bc6b517d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1a4070296439f6fb65241e649b626e5b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a1a4070296439f6fb65241e649b626e5b">arm_image</a></td></tr>
+<tr class="separator:a1a4070296439f6fb65241e649b626e5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad0a24466170afe17f03f38a6f4e9a21f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad0a24466170afe17f03f38a6f4e9a21f">arm_mask</a></td></tr>
+<tr class="separator:ad0a24466170afe17f03f38a6f4e9a21f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55a7f780314008ad43e0ae3667ed551f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a55a7f780314008ad43e0ae3667ed551f">arm_region</a></td></tr>
+<tr class="separator:a55a7f780314008ad43e0ae3667ed551f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada44531abffa3c4bd2074b126c2ecc5b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ada44531abffa3c4bd2074b126c2ecc5b">cache_piece</a></td></tr>
+<tr class="separator:ada44531abffa3c4bd2074b126c2ecc5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5ff5726961f5be136eecfedf94a3cd25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ff5726961f5be136eecfedf94a3cd25">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>app</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>arm_image</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>arm_mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  The Agent class equip the Base with the actions and the planning ability
+
+Args:
+    app: A Template instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af1dad5fc1e52e729b01ebb456cc72c47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1dad5fc1e52e729b01ebb456cc72c47">&#9670;&nbsp;</a></span>buildSphereAgent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSphereAgent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ed94a91dd0690fc6772dfb603c33620"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ed94a91dd0690fc6772dfb603c33620">&#9670;&nbsp;</a></span>buildSquareAgent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSquareAgent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a392dbacdd2fad4f5eafa6b644f020152"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a392dbacdd2fad4f5eafa6b644f020152">&#9670;&nbsp;</a></span>execute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def execute </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Execute an action given the action label and parameter
+
+Overwrite the execute function since we need to keep the self.app.rLoc updated
+Note that this is necessary only when we are using the puzzle.template as the appearance model
+</pre> 
+</div>
+</div>
+<a id="ad66bc0f5c583c656635ef414d6a81c63"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad66bc0f5c583c656635ef414d6a81c63">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>param</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aee7a4c35e3232c131ff62b5866eb4a16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee7a4c35e3232c131ff62b5866eb4a16">&#9670;&nbsp;</a></span>pause()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pause </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a648e0e4637e1b33ccde26890df437050"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a648e0e4637e1b33ccde26890df437050">&#9670;&nbsp;</a></span>pick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pick </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_id</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Pick up a puzzle piece (can be specified).
+
+Args:
+    puzzle: A puzzle instance.
+    piece_id: The index of the puzzle.
+
+Returns:
+    Whether have successfully performed the operation.</pre> 
+</div>
+</div>
+<a id="a065a15aff338876f65f60cdee1ae2047"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a065a15aff338876f65f60cdee1ae2047">&#9670;&nbsp;</a></span>pieceInHand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pieceInHand </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dis</em> = <code>80</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adb66f9faea15eef67bf92e207ec73de2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb66f9faea15eef67bf92e207ec73de2">&#9670;&nbsp;</a></span>place()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def place </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Place a puzzle piece to where the hand is.
+
+Args:
+    puzzle: A puzzle board.
+
+Returns:
+    Whether have successfully performed the operation.
+</pre> 
+</div>
+</div>
+<a id="af1015afd7070b57994f1438312748d31"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1015afd7070b57994f1438312748d31">&#9670;&nbsp;</a></span>placeInImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the hand into the image in the original location.
+
+Args:
+    img: The source image to put puzzle piece into.
+    offset: The offset list.
+</pre> 
+</div>
+</div>
+<a id="aac54cdcc52a959a2dce7e11d8d3ca551"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac54cdcc52a959a2dce7e11d8d3ca551">&#9670;&nbsp;</a></span>rotate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Rotate the puzzle piece.
+
+Args:
+    action_param: The action param.
+
+Returns:</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="afe63fea7be31b0200b496d08bc6b517d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe63fea7be31b0200b496d08bc6b517d">&#9670;&nbsp;</a></span>app</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">app</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1a4070296439f6fb65241e649b626e5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a4070296439f6fb65241e649b626e5b">&#9670;&nbsp;</a></span>arm_image</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_image</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0a24466170afe17f03f38a6f4e9a21f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0a24466170afe17f03f38a6f4e9a21f">&#9670;&nbsp;</a></span>arm_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a55a7f780314008ad43e0ae3667ed551f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55a7f780314008ad43e0ae3667ed551f">&#9670;&nbsp;</a></span>arm_region</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_region</td>
+        </tr>
+      </table>
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+          <td class="memname">params</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="hand_8py.html">hand.py</a></li>
+</ul>
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+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a>, including all inherited members.</p>
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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 id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
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+  <div class="headertitle">
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+</div><!--header-->
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+<table class="memberdecls">
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="hand_8py.html">hand.py</a></li>
+</ul>
+</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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+</a> 1.8.13
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+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PlannerHand Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a>, including all inherited members.</p>
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1plannerHand.html">plannerHand</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PlannerHand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PlannerHand:</div>
+<div class="dyncontent">
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1simulator_1_1planner_1_1Planner"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1simulator_1_1planner_1_1Planner')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aeb1123c25fbfe51fc66c26f97cb33da4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb1123c25fbfe51fc66c26f97cb33da4">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solver</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>manager</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1ParamPlanner.html">ParamPlanner</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Define the general planner planning process.
+
+Args:
+    solver: The solver instance responsible for plan the execution order.
+    manager: The manager instance responsible for determining the
+    association between the measured board and the solution board
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5b3eea323714b6f50ef7e00fe1938575"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b3eea323714b6f50ef7e00fe1938575">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Draft the action plan given the measured board.
+
+Args:
+    input: A measured board or an RGB image.
+    hand: The hand instance.
+    COMPLETE_PLAN: Whether to plan the whole sequence.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Whether to compute the solver to get the next action plan.
+        Otherwise, only the board will be recognized and updated.
+Returns:
+    plan_new: The updated plan for hand.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="plannerHand_8py.html">plannerHand.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
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+<h2 class="groupheader">Member Data Documentation</h2>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+</a> 1.8.13
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+<tr class="separator:a2debe316c6874c013213554b33d598bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ceb104897cb78a92288d9224eae4d2b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">status_history</a></td></tr>
+<tr class="separator:a7ceb104897cb78a92288d9224eae4d2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aad0f252bb2ff648694045c0385e8618a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac775ee34451fdfa742b318538164070e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac775ee34451fdfa742b318538164070e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solver</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>manager</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1d7acf0a8fd28146835e3d467a0d8681"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d7acf0a8fd28146835e3d467a0d8681">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>meaBoard</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>PLAN_WITH_TRACKBOARD</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Update the tracked board/history and generate the action plan for the robot.
+
+Args:
+    meaBoard: The measured board for the current view. Contains pieces at all the working area (include solution area)
+    visibleMask: The mask image for the visible area.
+    theImageMea: The original processed RGB image from the surveillance system.
+    rLoc_hand: The location of the hand.
+    COMPLETE_PLAN: Whether to generate the complete plan.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Run solver or not.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a4802cafd4ab57a9d7d4b4180691959a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4802cafd4ab57a9d7d4b4180691959a3">&#9670;&nbsp;</a></span>adapt_simulator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt_simulator </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>meaBoard</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Update the tracked board/history and generate the action plan for the robot.
+Still with the old pick &amp; place idea (not working on the real cases).
+Todo: To be compatible with the old version. Maybe integrated later.
+
+Args:
+    meaBoard: The measured board for the current view.
+    visibleMask: The mask image for the visible area.
+    rLoc_hand: The location of the hand.
+    COMPLETE_PLAN: Whether to generate the complete plan.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Run solver or not.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a4c929e144b06b17fd349cc7601a3c747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c929e144b06b17fd349cc7601a3c747">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the input image to get the measured board.
+
+Args:
+    img: The input image.
+
+Returns:
+    meaBoard: The measured board instance.
+</pre> 
+</div>
+</div>
+<a id="a9c6e2fa490003e64846ab5cd5cb7bb68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c6e2fa490003e64846ab5cd5cb7bb68">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>planOnTrack</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Draft the action plan given the measured board.
+
+@note In principle, the process is not triggered by key but should be called every processing time
+
+Args:
+    input:          A measured board or RGB image.
+    rLoc_hand:      The location of the hand.
+    visibleMask:    The mask of the visible area on the table (puzzle included).
+    theImageMea:    The original processed RGB image from the surveillance system.
+    COMPLETE_PLAN:  Whether to plan the whole sequence.
+    SAVED_PLAN:     Use the saved plan (self.plan) or not. NOTE: this option overwrite the COMPLETE_PLAN option. 
+            (i.e. If this is True, then the COMPLETE_PLAN will be set to true)
+    RUN_SOLVER:     Whether to compute the solver to get the next action plan.
+            Otherwise, only the board will be recognized and updated.
+Returns:
+    plan: The action plan for the simulator to perform
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8ebe6485d68baa7ace485b6c83177046"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ebe6485d68baa7ace485b6c83177046">&#9670;&nbsp;</a></span>displayBoard</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">displayBoard</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a43161706558a5b37e9c5578169a941db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a43161706558a5b37e9c5578169a941db">&#9670;&nbsp;</a></span>loc_history</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">loc_history</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a23416379944e641a8ad6bdbc95ef1859"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23416379944e641a8ad6bdbc95ef1859">&#9670;&nbsp;</a></span>manager</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">manager</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a494a20ecd0a0354be80b354322b62cc1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a494a20ecd0a0354be80b354322b62cc1">&#9670;&nbsp;</a></span>record</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">record</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2debe316c6874c013213554b33d598bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2debe316c6874c013213554b33d598bf">&#9670;&nbsp;</a></span>solver</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">solver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7ceb104897cb78a92288d9224eae4d2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ceb104897cb78a92288d9224eae4d2b">&#9670;&nbsp;</a></span>status_history</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">status_history</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aad0f252bb2ff648694045c0385e8618a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0f252bb2ff648694045c0385e8618a">&#9670;&nbsp;</a></span>theManager_intra</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theManager_intra</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="planner_8py.html">planner.py</a></li>
+</ul>
+</div><!-- contents -->
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+<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> 1.8.13
+</small></address>
+</body>
+</html>
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+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html">bcolors</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#af59da71d3904928ab26f869b43748a21">OKBLUE</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html">bcolors</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a9eb1dca939d19395bb2575655512c203">OKCYAN</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html">bcolors</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+ </tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1planner_1_1bcolors-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">bcolors Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
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+<tr class="separator:a9eb1dca939d19395bb2575655512c203"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8144a5ca0d0e87f9379f1e659cd2d91b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adfd2e04a8cd1c80e5363474b3e69bde0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a93bb20810d83fb8742ba55ad8af4e467"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a93bb20810d83fb8742ba55ad8af4e467">WARNING</a> = '\033[93m'</td></tr>
+<tr class="separator:a93bb20810d83fb8742ba55ad8af4e467"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
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+<a id="ac7b767a9a5b6792d2190c0986af8efcd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7b767a9a5b6792d2190c0986af8efcd">&#9670;&nbsp;</a></span>BOLD</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
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+</div>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#adaf8c0a026a62515ee2af85bc6fd5da9">&#9670;&nbsp;</a></span>FAIL</h2>
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+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname">string FAIL = '\033[91m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
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+
+</div>
+</div>
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+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string HEADER = '\033[95m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af59da71d3904928ab26f869b43748a21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af59da71d3904928ab26f869b43748a21">&#9670;&nbsp;</a></span>OKBLUE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string OKBLUE = '\033[94m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9eb1dca939d19395bb2575655512c203"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9eb1dca939d19395bb2575655512c203">&#9670;&nbsp;</a></span>OKCYAN</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string OKCYAN = '\033[96m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8144a5ca0d0e87f9379f1e659cd2d91b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8144a5ca0d0e87f9379f1e659cd2d91b">&#9670;&nbsp;</a></span>OKGREEN</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string OKGREEN = '\033[92m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adfd2e04a8cd1c80e5363474b3e69bde0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adfd2e04a8cd1c80e5363474b3e69bde0">&#9670;&nbsp;</a></span>UNDERLINE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string UNDERLINE = '\033[4m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a93bb20810d83fb8742ba55ad8af4e467"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93bb20810d83fb8742ba55ad8af4e467">&#9670;&nbsp;</a></span>WARNING</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string WARNING = '\033[93m'</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/simulator/<a class="el" href="planner_8py.html">planner.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1simTime.html">simTime</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html">ParamST</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ParamST Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html">ParamST</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html#af6a258d8f3ee5206d682d799316314b1">bool</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html">ParamSTL</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+</table></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> 1.8.13
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+</body>
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diff --git a/docs/classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html b/docs/classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ParamST Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+</div><div class="memdoc">
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+</div>
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+</ul>
+</div><!-- contents -->
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diff --git a/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime-members.html b/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime-members.html
new file mode 100644
index 00000000..afe5a448
--- /dev/null
+++ b/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime-members.html
@@ -0,0 +1,117 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1simTime.html">simTime</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SimTime Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2cef39ebfd921972236c0e4b799513c6">__init__</a>(self, thePuzzle, theHand, thePlanner=None, thePlannerHand=None, theFig=None, shareFlag=True, theParams=ParamST())</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">puzzle::simulator::basic::Basic.__init__</a>(self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, shareFlag=True, theParams=ParamBasic)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a20c9c88bbc1fd1c6e068c6029c5196df">cache_action</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2de434e4ed5245432b7d460326696c81">calibrate</a>(self, ID_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a68f7a97055e94dcf71948daa0c79619d">cluster_piece_dict</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a7b8f75a9fc791856e15291f90ca3a2d8">cluster_region_list</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">display</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">puzzle::simulator::basic::Basic.display</a>(self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a>(self, pVecs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#af2be5e41610afb58aeec369e8bb9a524">FPS</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ac7a2b614f938a1a8b13cb8e336cae28f">FramePerSec</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a36aff75e89a0f2a99eca767b6ece034d">im</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#abcd9e77a8ba151e8092d8843fe4f6878">instruction</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a1660119e6bd8410c343d8d338ccd487e">plannerHand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a>(self, gt_pAssignments)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a8349f5635ce188958282b983c7c74385">pygameFig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a9b4f39b173ff2e7e06c0e05f1eae1517">reset_cache</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a>(self, pLocs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#af39b397c00bd664699145131c1e8c0ab">simulate_step</a>(self, robot_only=False, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ad45ed340c839bfe6f689d75de9c622e6">puzzle::simulator::simTimeless::SimTimeLess.simulate_step</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a11b7452e8899bc2fed4e87950f975dd2">simulate_step_small</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">takeAction</a>(self, plan, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a9fabcf6aa0647a2414f7cb1a2ab2634a">timer</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a>(self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a>(self, pAssignments, piece_id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html b/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html
new file mode 100644
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--- /dev/null
+++ b/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: SimTime Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+<tr class="separator:a64aa603bc3c6c1587e7c6542452481ac inherit pub_attribs_classpuzzle_1_1simulator_1_1basic_1_1Basic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b74e4caa5ea81714e8a2e826474dc70 inherit pub_attribs_classpuzzle_1_1simulator_1_1basic_1_1Basic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2cef39ebfd921972236c0e4b799513c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2cef39ebfd921972236c0e4b799513c6">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theHand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlannerHand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html">ParamST</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief: The timeless simulator class that simulates the puzzle solving progress.
+
+The class stores an initial board, a solution board, and an agent instance.
+During the simulation, the simulator will execute the following process:
+1. Let the agent observe the board
+2. Let the agent process the board, which means:
+    2.1 Plan actions if don't know what to do (no more stored actions)
+    2.2 Execute the next planned actions
+3. If no more process result, meaning no more plans or actions to be executed,
+    then end the simulation. Otherwise repreat the above process
+
+@param[in]  thePuzzle           The current board
+@param[in]  agent               The puzzle solving agent
+@param[in]  param               The parameters
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2de434e4ed5245432b7d460326696c81"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2de434e4ed5245432b7d460326696c81">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Provide the user with an option to manually segment the solution board into several regions by mouse. The regions could be used later.
+
+Args:
+    ID_DISPLAY: Display the ID or not.</pre> 
+</div>
+</div>
+<a id="ae7d580d7a6c588c74eac0cb338c135bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7d580d7a6c588c74eac0cb338c135bd">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    ID_DISPLAY: Flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: Flag indicating CONTOUR_DISPLAY or not.
+</pre> 
+</div>
+</div>
+<a id="abcd9e77a8ba151e8092d8843fe4f6878"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abcd9e77a8ba151e8092d8843fe4f6878">&#9670;&nbsp;</a></span>instruction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def instruction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Display a screen with some instructions.
+</pre> 
+</div>
+</div>
+<a id="a9b4f39b173ff2e7e06c0e05f1eae1517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b4f39b173ff2e7e06c0e05f1eae1517">&#9670;&nbsp;</a></span>reset_cache()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def reset_cache </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Reset the cache.
+</pre> 
+</div>
+</div>
+<a id="af39b397c00bd664699145131c1e8c0ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af39b397c00bd664699145131c1e8c0ab">&#9670;&nbsp;</a></span>simulate_step()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>robot_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Create the simulation.
+
+Args:
+    robot_only: If there is no hand.
+    ID_DISPLAY: Display the ID on the board.
+    CONTOUR_DISPLAY: Display the contours of the puzzle pieces or not.
+</pre> 
+</div>
+</div>
+<a id="a11b7452e8899bc2fed4e87950f975dd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a11b7452e8899bc2fed4e87950f975dd2">&#9670;&nbsp;</a></span>simulate_step_small()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step_small </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the simulate_step function
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a20c9c88bbc1fd1c6e068c6029c5196df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c9c88bbc1fd1c6e068c6029c5196df">&#9670;&nbsp;</a></span>cache_action</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_action</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a68f7a97055e94dcf71948daa0c79619d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68f7a97055e94dcf71948daa0c79619d">&#9670;&nbsp;</a></span>cluster_piece_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cluster_piece_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b8f75a9fc791856e15291f90ca3a2d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b8f75a9fc791856e15291f90ca3a2d8">&#9670;&nbsp;</a></span>cluster_region_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cluster_region_list</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af2be5e41610afb58aeec369e8bb9a524"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2be5e41610afb58aeec369e8bb9a524">&#9670;&nbsp;</a></span>FPS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FPS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac7a2b614f938a1a8b13cb8e336cae28f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7a2b614f938a1a8b13cb8e336cae28f">&#9670;&nbsp;</a></span>FramePerSec</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FramePerSec</td>
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diff --git a/docs/classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess-members.html b/docs/classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess-members.html
new file mode 100644
index 00000000..dc4ad894
--- /dev/null
+++ b/docs/classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess-members.html
@@ -0,0 +1,106 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1simTimeless.html">simTimeless</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SimTimeLess Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6668782756ae03b087db3748c577ee0f">__init__</a>(self, thePuzzle, theHand, thePlanner=None, thePlannerHand=None, theFig=None, shareFlag=True, theParams=ParamSTL())</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">puzzle::simulator::basic::Basic.__init__</a>(self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, shareFlag=True, theParams=ParamBasic)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a20c9c88bbc1fd1c6e068c6029c5196df">cache_action</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ae7d580d7a6c588c74eac0cb338c135bd">display</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">puzzle::simulator::basic::Basic.display</a>(self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a>(self, pVecs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a36aff75e89a0f2a99eca767b6ece034d">im</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a1660119e6bd8410c343d8d338ccd487e">plannerHand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a>(self, gt_pAssignments)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a>(self, pLocs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ad45ed340c839bfe6f689d75de9c622e6">simulate_step</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">takeAction</a>(self, plan, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a>(self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a>(self, pAssignments, piece_id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+</table></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> 1.8.13
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diff --git a/docs/classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html b/docs/classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html
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+<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: SimTimeLess Class 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>
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SimTimeLess Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for SimTimeLess:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess__inherit__graph.png" border="0" usemap="#SimTimeLess_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a6668782756ae03b087db3748c577ee0f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6668782756ae03b087db3748c577ee0f">__init__</a> (self, thePuzzle, theHand, thePlanner=None, thePlannerHand=None, theFig=None, <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a>=True, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html">ParamSTL</a>())</td></tr>
+<tr class="separator:a6668782756ae03b087db3748c577ee0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae7d580d7a6c588c74eac0cb338c135bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad45ed340c839bfe6f689d75de9c622e6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ad45ed340c839bfe6f689d75de9c622e6">simulate_step</a> (self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td></tr>
+<tr class="separator:ad45ed340c839bfe6f689d75de9c622e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1simulator_1_1basic_1_1Basic"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1simulator_1_1basic_1_1Basic')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:a64aa603bc3c6c1587e7c6542452481ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1660119e6bd8410c343d8d338ccd487e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6fb893bb2be67c81a1e78623f2b4cd20"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6668782756ae03b087db3748c577ee0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6668782756ae03b087db3748c577ee0f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theHand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlannerHand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html">ParamSTL</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief: The timeless simulator class that simulates the puzzle solving progress.
+
+The class stores an initial board, a solution board, and an agent instance.
+During the simulation, the simulator will execute the following process:
+1. Let the agent observe the board
+2. Let the agent process the board, which means:
+    2.1 Plan actions if don't know what to do (no more stored actions)
+    2.2 Execute the next planned actions
+3. If no more process result, meaning no more plans or actions to be executed,
+    then end the simulation. Otherwise repreat the above process
+
+@param[in]  init_board          The initial board
+@param[in]  sol_board           The solution board
+@param[in]  agent               The puzzle solving agent
+@param[in]  param               The parameters
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae7d580d7a6c588c74eac0cb338c135bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7d580d7a6c588c74eac0cb338c135bd">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    ID_DISPLAY: Flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: Flag indicating CONTOUR_DISPLAY or not.
+</pre> 
+</div>
+</div>
+<a id="ad45ed340c839bfe6f689d75de9c622e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad45ed340c839bfe6f689d75de9c622e6">&#9670;&nbsp;</a></span>simulate_step()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Create the simulation.
+
+Args:
+    ID_DISPLAY: Display the ID on the board.
+    CONTOUR_DISPLAY: Display the contours of the puzzle pieces or not.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a20c9c88bbc1fd1c6e068c6029c5196df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c9c88bbc1fd1c6e068c6029c5196df">&#9670;&nbsp;</a></span>cache_action</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_action</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afa9e9838abb44338f7cbe41dc6f846d4"></a>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ac41924d50ff336544c5d99cd9500cfa3">takeTurn</a>(self, thePlan=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+</table></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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+<title>IVALab Python Libraries: Base Class 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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the base puzzle solver class.  Assumes
+existence of solution state and current puzzle state.
+Args:
+    theSol: The solution board.
+    thePuzzle: The actual board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a88939c35e54e49996f68e04f1833291f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88939c35e54e49996f68e04f1833291f">&#9670;&nbsp;</a></span>setCurrBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setCurrBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac41924d50ff336544c5d99cd9500cfa3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac41924d50ff336544c5d99cd9500cfa3">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Perform a single puzzle solving action, which move a piece
+to its correct location. Base class is empty and should be
+overloaded.
+
+Args:
+    thePlan: A specific desired action plan.</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae8b515cceb310a575b6c2677ba93ea7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8b515cceb310a575b6c2677ba93ea7e">&#9670;&nbsp;</a></span>current</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">current</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6788c2131efce60abb1699742c1c9509"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6788c2131efce60abb1699742c1c9509">&#9670;&nbsp;</a></span>desired</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">desired</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/solver/<a class="el" href="puzzle__solver_2puzzle_2solver_2base_8py.html">base.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Member List</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">
+<div class="title">Simple Member List</div>  </div>
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+<div class="contents">
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#aa5a076d2bf3af21bde3e6c758a4b3a7f">__init__</a>(self, theSol, thePuzzle=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">match</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">plan</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4fc0be821f8a1349b086683f16fcd778">planGreedyTSP</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a655c258270d4220250da3d6b214280ae">planNew</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">planOrdered</a>(self, occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">setCurrBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">setMatch</a>(self, match, rotation_match=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4b5c246facf6121a4715ad71171bbf36">takeTurn</a>(self, thePlan=None, defaultPlan='order', occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, SAVED_PLAN=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Simple Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver.html">solver</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver_1_1simple.html">simple</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1solver_1_1simple_1_1Simple-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Simple Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Simple:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1solver_1_1simple_1_1Simple__inherit__graph.png" border="0" usemap="#Simple_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Simple:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1solver_1_1simple_1_1Simple__coll__graph.png" border="0" usemap="#Simple_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:aa5a076d2bf3af21bde3e6c758a4b3a7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#aa5a076d2bf3af21bde3e6c758a4b3a7f">__init__</a> (self, theSol, thePuzzle=None)</td></tr>
+<tr class="separator:aa5a076d2bf3af21bde3e6c758a4b3a7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4fc0be821f8a1349b086683f16fcd778"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4fc0be821f8a1349b086683f16fcd778">planGreedyTSP</a> (self)</td></tr>
+<tr class="separator:a4fc0be821f8a1349b086683f16fcd778"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a655c258270d4220250da3d6b214280ae"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a655c258270d4220250da3d6b214280ae">planNew</a> (self)</td></tr>
+<tr class="separator:a655c258270d4220250da3d6b214280ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2757d0319c98e02b205c106d266a5f73"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">planOrdered</a> (self, occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, verbose=False)</td></tr>
+<tr class="separator:a2757d0319c98e02b205c106d266a5f73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88939c35e54e49996f68e04f1833291f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">setCurrBoard</a> (self, theBoard)</td></tr>
+<tr class="separator:a88939c35e54e49996f68e04f1833291f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e8180dcffe198694d6ce1d4afed753a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">setMatch</a> (self, <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">match</a>, <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a>=None)</td></tr>
+<tr class="separator:a1e8180dcffe198694d6ce1d4afed753a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b5c246facf6121a4715ad71171bbf36"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4b5c246facf6121a4715ad71171bbf36">takeTurn</a> (self, thePlan=None, defaultPlan='order', occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, SAVED_PLAN=True)</td></tr>
+<tr class="separator:a4b5c246facf6121a4715ad71171bbf36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1solver_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a09c1977da551cf6ff09de13300cd0b19 inherit pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a09c1977da551cf6ff09de13300cd0b19">__init__</a> (self, theSol, thePuzzle)</td></tr>
+<tr class="separator:a09c1977da551cf6ff09de13300cd0b19 inherit pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a88939c35e54e49996f68e04f1833291f inherit pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac41924d50ff336544c5d99cd9500cfa3 inherit pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ac41924d50ff336544c5d99cd9500cfa3">takeTurn</a> (self, thePlan=None)</td></tr>
+<tr class="separator:ac41924d50ff336544c5d99cd9500cfa3 inherit pub_methods_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td></tr>
+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:accb9e3891f1b5e10699e8048d6762923"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">match</a></td></tr>
+<tr class="separator:accb9e3891f1b5e10699e8048d6762923"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">plan</a></td></tr>
+<tr class="separator:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2cf2886cacfc85149e1521b3387ca796"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a></td></tr>
+<tr class="separator:a2cf2886cacfc85149e1521b3387ca796"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:ae8b515cceb310a575b6c2677ba93ea7e inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td></tr>
+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">desired</a></td></tr>
+<tr class="separator:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa5a076d2bf3af21bde3e6c758a4b3a7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5a076d2bf3af21bde3e6c758a4b3a7f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the simple puzzle solver. Assume existence
+of solution state and current puzzle state, the match is built up by
+the manager.
+
+Args:
+  theSol: The solution board.
+  thePuzzle: The estimated board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4fc0be821f8a1349b086683f16fcd778"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4fc0be821f8a1349b086683f16fcd778">&#9670;&nbsp;</a></span>planGreedyTSP()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planGreedyTSP </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief      Generate a greedy plan based on TS-like problem.
+The travelling salesman problem is to visit a set of cities in a
+path optimal manner.  This version applies the same idea in a greed
+manner. That involves finding the piece closest to the true
+solution, then placing it.  After that it searches for a piece that
+minimizes to distance to pick and to place (e.g., distance to the
+next piece + distance to its true location).  That piece is added to
+the plan, and the process repeats until all pieces are planned.</pre> 
+</div>
+</div>
+<a id="a655c258270d4220250da3d6b214280ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a655c258270d4220250da3d6b214280ae">&#9670;&nbsp;</a></span>planNew()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planNew </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Implement Dr. Adan Vela's algorithm.
+
+Returns:
+    plan: The plan list.
+</pre> 
+</div>
+</div>
+<a id="a2757d0319c98e02b205c106d266a5f73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2757d0319c98e02b205c106d266a5f73">&#9670;&nbsp;</a></span>planOrdered()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planOrdered </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>occlusionList</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>STEP_WISE</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Plan is to solve puzzle pieces in order (col-wise).
+
+Args:
+    occlusionList: The occlusion list.
+    STEP_WISE: If disabled, we will put the puzzle piece's rotation &amp; location
+        in a single step.
+    COMPLETE_PLAN:  If enabled, we will create the complete plan instead a single step.
+    verbose: For debug purpose.
+
+Returns:
+    plan: The plan list.
+</pre> 
+</div>
+</div>
+<a id="a88939c35e54e49996f68e04f1833291f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88939c35e54e49996f68e04f1833291f">&#9670;&nbsp;</a></span>setCurrBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setCurrBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Set up the current board.
+
+Args:
+    theBoard (Board): A board instance.
+</pre> 
+</div>
+</div>
+<a id="a1e8180dcffe198694d6ce1d4afed753a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e8180dcffe198694d6ce1d4afed753a">&#9670;&nbsp;</a></span>setMatch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMatch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>match</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rotation_match</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the match.
+
+Args:
+  match: The match between the index in the measured board and the solution board.
+  rotation_match: The rotation angle for each piece in the match.
+</pre> 
+</div>
+</div>
+<a id="a4b5c246facf6121a4715ad71171bbf36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b5c246facf6121a4715ad71171bbf36">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>defaultPlan</em> = <code>'order'</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>occlusionList</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>STEP_WISE</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Create a plan.
+
+Args:
+    thePlan: A specific desired action plan. We assume it only knows (piece_id, action_type, action).
+    defaultPlan: The default plan strategy.
+    occlusionList: Skip the pieces in the occlusionList.
+    STEP_WISE: Perform STEP_WISE(rotation &amp; movement together) action or not.
+    COMPLETE_PLAN: Create a complete plan or just a single step action.
+    SAVED_PLAN: Use the saved plan (self.plan) or not
+
+Returns:
+    plan: Processed plan list.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae8b515cceb310a575b6c2677ba93ea7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8b515cceb310a575b6c2677ba93ea7e">&#9670;&nbsp;</a></span>current</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">current</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="accb9e3891f1b5e10699e8048d6762923"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#accb9e3891f1b5e10699e8048d6762923">&#9670;&nbsp;</a></span>match</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">match</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae1e167b26485ee9a975bf4fb78bc469c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1e167b26485ee9a975bf4fb78bc469c">&#9670;&nbsp;</a></span>plan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">plan</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2cf2886cacfc85149e1521b3387ca796"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2cf2886cacfc85149e1521b3387ca796">&#9670;&nbsp;</a></span>rotation_match</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rotation_match</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/solver/<a class="el" href="puzzle__solver_2puzzle_2solver_2simple_8py.html">simple.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent-members.html b/docs/classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver.html">solver</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver_1_1twoAgent.html">twoAgent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TwoAgent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ac9b243262f2da5597509d957ede74cef">__init__</a>(self, theSol, thePuzzle, agent1=None, agent2=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#aa5a076d2bf3af21bde3e6c758a4b3a7f">puzzle::solver::simple::Simple.__init__</a>(self, theSol, thePuzzle=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ab8f69d85bc0da1638e646e6a25b76471">agents</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">desired</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#af335184c7ff2c682cfbbd357716a8890">iMove</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">match</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">plan</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4fc0be821f8a1349b086683f16fcd778">planGreedyTSP</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a655c258270d4220250da3d6b214280ae">planNew</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">planOrdered</a>(self, occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">setCurrBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#a2eccb0eb4e64e5cc74a19c3ca9f22586">setMatch</a>(self, match)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">puzzle::solver::simple::Simple.setMatch</a>(self, match, rotation_match=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#afb2e9552e7e6cf9d85ea897ed1ca4129">takeTurn</a>(self, thePlan=None, defaultPlan='order')</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a4b5c246facf6121a4715ad71171bbf36">puzzle::solver::simple::Simple.takeTurn</a>(self, thePlan=None, defaultPlan='order', occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False, SAVED_PLAN=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ac41924d50ff336544c5d99cd9500cfa3">puzzle::solver::base::Base.takeTurn</a>(self, thePlan=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html b/docs/classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: TwoAgent Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TwoAgent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TwoAgent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent__inherit__graph.png" border="0" usemap="#TwoAgent_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TwoAgent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent__coll__graph.png" border="0" usemap="#TwoAgent_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ac9b243262f2da5597509d957ede74cef"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ac9b243262f2da5597509d957ede74cef">__init__</a> (self, theSol, thePuzzle, agent1=None, agent2=None)</td></tr>
+<tr class="separator:ac9b243262f2da5597509d957ede74cef"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ab8f69d85bc0da1638e646e6a25b76471"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#ab8f69d85bc0da1638e646e6a25b76471">agents</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac9b243262f2da5597509d957ede74cef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b243262f2da5597509d957ede74cef">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>agent1</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>agent2</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Derived from the simple puzzle solver, it also takes in two
+solver build functions to seed with information.  Defaults
+to simple solvers if none given.
+Args:
+    theSol: The solution board.
+    thePuzzle: The actual board.
+    agent1: The agent 1.
+    agent2: The agent 2.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2eccb0eb4e64e5cc74a19c3ca9f22586"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2eccb0eb4e64e5cc74a19c3ca9f22586">&#9670;&nbsp;</a></span>setMatch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMatch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>match</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the match.
+
+Args:
+    match: The match between the id in the measured board and the solution board.
+</pre> 
+</div>
+</div>
+<a id="afb2e9552e7e6cf9d85ea897ed1ca4129"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afb2e9552e7e6cf9d85ea897ed1ca4129">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>defaultPlan</em> = <code>'order'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Args:
+    thePlan: A specific desired action plan.
+    defaultPlan: The default plan strategy.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab8f69d85bc0da1638e646e6a25b76471"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8f69d85bc0da1638e646e6a25b76471">&#9670;&nbsp;</a></span>agents</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">agents</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af335184c7ff2c682cfbbd357716a8890"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af335184c7ff2c682cfbbd357716a8890">&#9670;&nbsp;</a></span>iMove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">iMove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/solver/<a class="el" href="twoAgent_8py.html">twoAgent.py</a></li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html b/docs/classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TextRectException Class Reference</div>  </div>
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+<tr class="memitem:a65f556f65e30e8abfd67d1bba18d764d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html#a65f556f65e30e8abfd67d1bba18d764d">__init__</a> (self, <a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html#ab8140947611504abcb64a4c277effcf5">message</a>=None)</td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a65f556f65e30e8abfd67d1bba18d764d">&#9670;&nbsp;</a></span>__init__()</h2>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>message</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a23e8041ce1015febe4fdace3225714f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23e8041ce1015febe4fdace3225714f9">&#9670;&nbsp;</a></span>__str__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __str__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
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+
+</div>
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+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">message</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/pvela/python/puzzle_solver/puzzle/utils/<a class="el" href="pygameProcessing_8py.html">pygameProcessing.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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+++ b/docs/classtrackpointer_1_1centroidMulti_1_1centroidMulti-members.html
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+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">displayDebugState</a>(self, dbstate=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">displayState</a>(self, dstate=None, ax=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">get</a>(self, fname)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#aa84287eb1924cb7327029582f9c35d4a">labelIm</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a863afb5e67e10e94b1f7b37bfd55d636">labelImage</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a8ff8655164e312e194327f31593cbe38">offset</a>(self, dp)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">regionProposal</a>(I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a6d6cfe637269a3be394964d5b1462edd">set</a>(self, fname, fval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">setIfMissing</a>(self, params, pname, pval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">setState</a>(self, dPt)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4878b4096cf3940de12940c8db25027b">tparams</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a34cf4ef155300b4e2ab8303af37669ce">tpt</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">trackProps</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#af6e79d6276dd4457be1bed016ac7cc28">transform</a>(self, g)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
 </table></div><!-- contents -->
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diff --git a/docs/classtrackpointer_1_1centroidMulti_1_1centroidMulti.html b/docs/classtrackpointer_1_1centroidMulti_1_1centroidMulti.html
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index f651e989..fad01eaa 100644
--- a/docs/classtrackpointer_1_1centroidMulti_1_1centroidMulti__inherit__graph.map
+++ b/docs/classtrackpointer_1_1centroidMulti_1_1centroidMulti__inherit__graph.map
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--- a/docs/classtrackpointer_1_1centroid_1_1CfgCentroid.html
+++ b/docs/classtrackpointer_1_1centroid_1_1CfgCentroid.html
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--- a/docs/classtrackpointer_1_1centroid_1_1CfgCentroid__inherit__graph.map
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--- a/docs/classtrackpointer_1_1centroid_1_1CfgCentroid__inherit__graph.md5
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   <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a7daf16268d7d94c657ed344a7a102a12">__init__</a>(self, iPt=None, params=CfgCentroid())</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
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+<script type="text/javascript" src="jquery.js"></script>
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 , <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>
@@ -144,9 +154,15 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>bTrackImage
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2118ff93d9d0097174c9ea0b60e3e362">RealSolver</a>
 </li>
+<li>bTrackImage_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a56b48b97722ea14184438615681c1c04">RealSolverROS</a>
+</li>
 <li>bTrackImage_SolID
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a0279d7cda5bb32a73334f852ed20136b">RealSolver</a>
 </li>
+<li>bTrackImage_SolID_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#aebbcb5b847f650897ad746cc5286788d">RealSolverROS</a>
+</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#a110fa42ddb30541ae15c3a6147bdf3ba">BaseSurveillanceDeploy</a>
@@ -194,7 +210,6 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFrom_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>
 </li>
 <li>buildFrom_ImageProcessing()
@@ -233,19 +248,16 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromFile_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">Interlocking</a>
 </li>
 <li>buildFromFile_Puzzle()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">Interlocking</a>
 </li>
 <li>buildFromFiles_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">Interlocking</a>
 </li>
 <li>buildFromImage()
diff --git a/docs/functions_c.html b/docs/functions_c.html
index 51c36aed..1062e7e5 100644
--- a/docs/functions_c.html
+++ b/docs/functions_c.html
@@ -220,6 +220,9 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>cluster_region_list
 : <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a7b8f75a9fc791856e15291f90ca3a2d8">SimTime</a>
 </li>
+<li>clusterScore()
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae152c55618cca6a2c6c4029fb5d013b4">RealSolver</a>
+</li>
 <li>color_sensor
 : <a class="el" href="classcamera_1_1cv2cam_1_1Color.html#a408c44ae2a1be1316522d336cd3005f0">Color</a>
 , <a class="el" href="classcamera_1_1d435_1_1runner_1_1D435__Runner.html#a408c44ae2a1be1316522d336cd3005f0">D435_Runner</a>
@@ -235,7 +238,7 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 : <a class="el" href="classcamera_1_1rostopic_1_1RGBD.html#af7b0ab4f2c80551202c9771ed8603325">RGBD</a>
 </li>
 <li>colorFeaExtract()
-: <a class="el" href="classhistogram_1_1Histogram.html#a8e41badc6985aa519d297aeecd41d277">Histogram</a>
+: <a class="el" href="classhistogram_1_1Histogram.html#a36f1a0a11957ac3d5665c37ae455f6b2">Histogram</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">Edge</a>
 </li>
 <li>colorSub
diff --git a/docs/functions_d.html b/docs/functions_d.html
index b4f266f7..4fd853d7 100644
--- a/docs/functions_d.html
+++ b/docs/functions_d.html
@@ -228,6 +228,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 </li>
 <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>
@@ -236,6 +237,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 , <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>
@@ -257,6 +259,9 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>displayEdgeType()
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#adcd762a40ed7e6f36be723dc9ee92752">Regular</a>
 </li>
+<li>displayForeground_cv()
+: <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">fgAppearance</a>
+</li>
 <li>displayFull()
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#acf83804126cf5cb2ea20d74142fd8f66">Perceiver</a>
 </li>
diff --git a/docs/functions_e.html b/docs/functions_e.html
index 94f7185c..d9c611ff 100644
--- a/docs/functions_e.html
+++ b/docs/functions_e.html
@@ -156,6 +156,9 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <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
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#ab8597cc485dffbb02e75816ded1a6722">bcolors</a>
+</li>
 <li>erode()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a19d5d08793f8a12833aa8a603d5822a1">mask</a>
 </li>
diff --git a/docs/functions_f.html b/docs/functions_f.html
index f6c6bb1d..6c55427c 100644
--- a/docs/functions_f.html
+++ b/docs/functions_f.html
@@ -65,6 +65,9 @@ <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>
 <li>feaExtractor
 : <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ab81b60de1b5b308e7e487d2af81e6369">ByColor</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#ab81b60de1b5b308e7e487d2af81e6369">ByShape</a>
@@ -73,10 +76,16 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 : <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ad74507e4393158284b56c876aac83968">ByColor</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#ad74507e4393158284b56c876aac83968">ByShape</a>
 </li>
+<li>feaLabel_dict
+: <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a48211a50087ed0aaf3f13f54fac31708">ByColor</a>
+</li>
 <li>feature
 : <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a54c048cb58bd1fa076182d199e23d927">ByColor</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html#a54c048cb58bd1fa076182d199e23d927">ByShape</a>
 </li>
+<li>feature_dict
+: <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a39b0f1cb6106834fa7ebde4161d32bb3">ByColor</a>
+</li>
 <li>featVec
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">Template</a>
 </li>
@@ -149,6 +158,7 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamColorCluster</a>
 , <a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamShapeCluster</a>
 , <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">ParamPuzzle</a>
+, <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>
diff --git a/docs/functions_func.html b/docs/functions_func.html
index f020397e..e41d62de 100644
--- a/docs/functions_func.html
+++ b/docs/functions_func.html
@@ -218,11 +218,12 @@ <h3><a id="index__"></a>- _ -</h3><ul>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#ae581b4d31baa917954a75fae33f50dcc">SIFTCV</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a096e091d7701946cc970e1b4b9ad695f">Sift</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2d0cde796fa624140443ef40c8f2f34f">RealSolver</a>
+, <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a2d0cde796fa624140443ef40c8f2f34f">RealSolverROS</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a1ad92c82f2971931548d590fbc4d42f5">Actions</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">Basic</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a5ff5726961f5be136eecfedf94a3cd25">Hand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#ac775ee34451fdfa742b318538164070e">Planner</a>
-, <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a9ea0072786b9cf395db28dd3e360fca6">PlannerHand</a>
+, <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#aeb1123c25fbfe51fc66c26f97cb33da4">PlannerHand</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2cef39ebfd921972236c0e4b799513c6">SimTime</a>
 , <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6668782756ae03b087db3748c577ee0f">SimTimeLess</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a09c1977da551cf6ff09de13300cd0b19">Base</a>
diff --git a/docs/functions_func_a.html b/docs/functions_func_a.html
index 353dfa2f..966ed7c9 100644
--- a/docs/functions_func_a.html
+++ b/docs/functions_func_a.html
@@ -81,7 +81,7 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
 , <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#a12d5e6e11fe7f030ea53aa6f09e7cada">Planner</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>
diff --git a/docs/functions_func_b.html b/docs/functions_func_b.html
index 4b1de708..f12eb3d9 100644
--- a/docs/functions_func_b.html
+++ b/docs/functions_func_b.html
@@ -112,7 +112,6 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFrom_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>
 </li>
 <li>buildFrom_ImageProcessing()
@@ -151,19 +150,16 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>buildFromFile_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">Interlocking</a>
 </li>
 <li>buildFromFile_Puzzle()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">Interlocking</a>
 </li>
 <li>buildFromFiles_ImageAndMask()
 : <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">Adjacent</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">Arrangement</a>
-, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">Gridded</a>
 , <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">Interlocking</a>
 </li>
 <li>buildFromImage()
diff --git a/docs/functions_func_c.html b/docs/functions_func_c.html
index 084b1133..75450a78 100644
--- a/docs/functions_func_c.html
+++ b/docs/functions_func_c.html
@@ -142,11 +142,14 @@ <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>clusterScore()
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae152c55618cca6a2c6c4029fb5d013b4">RealSolver</a>
+</li>
 <li>colorCB()
 : <a class="el" href="classcamera_1_1rostopic_1_1RGBD.html#af7b0ab4f2c80551202c9771ed8603325">RGBD</a>
 </li>
 <li>colorFeaExtract()
-: <a class="el" href="classhistogram_1_1Histogram.html#a8e41badc6985aa519d297aeecd41d277">Histogram</a>
+: <a class="el" href="classhistogram_1_1Histogram.html#a36f1a0a11957ac3d5665c37ae455f6b2">Histogram</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">Edge</a>
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 <li>compare()
diff --git a/docs/functions_func_d.html b/docs/functions_func_d.html
index 5d5e1252..3b21c485 100644
--- a/docs/functions_func_d.html
+++ b/docs/functions_func_d.html
@@ -122,6 +122,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
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 <li>display_cv()
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+, <a class="el" href="classpuzzle_1_1board_1_1Board.html#afe97b1af6e2d3d0b7c4c0b466c09d3a2">Board</a>
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 , <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>
@@ -130,6 +131,7 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 , <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()
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@@ -148,6 +150,9 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 <li>displayEdgeType()
 : <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#adcd762a40ed7e6f36be723dc9ee92752">Regular</a>
 </li>
+<li>displayForeground_cv()
+: <a class="el" href="classdetector_1_1fgmodel_1_1appearance_1_1fgAppearance.html#ac976933d38609243e36c16e819053422">fgAppearance</a>
+</li>
 <li>displayFull()
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#acf83804126cf5cb2ea20d74142fd8f66">Perceiver</a>
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diff --git a/docs/functions_func_g.html b/docs/functions_func_g.html
index 2e0ed0c4..61e0fbcb 100644
--- a/docs/functions_func_g.html
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@@ -296,6 +296,9 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <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>greedyAssignment()
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">Correspondences</a>
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--- /dev/null
+++ b/docs/functions_func_h.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Class Members - Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript">
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_h"></a>- h -</h3><ul>
+<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>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/functions_func_k.html b/docs/functions_func_k.html
new file mode 100644
index 00000000..e5d4d7e5
--- /dev/null
+++ b/docs/functions_func_k.html
@@ -0,0 +1,77 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Class Members - Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>kpFeaExtract()
+: <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">Sift</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/functions_func_p.html b/docs/functions_func_p.html
index 3d81c6c7..e42ea75e 100644
--- a/docs/functions_func_p.html
+++ b/docs/functions_func_p.html
@@ -131,7 +131,7 @@ <h3><a id="index_p"></a>- p -</h3><ul>
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-: <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a50a81e9083a1d92f79015083941e58be">Simple</a>
+: <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">Simple</a>
 </li>
 <li>plot_states()
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 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a1f45766bf9d26c6a86fae753e9f7f94f">boardPerceive</a>
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-, <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a7014699b5efa8f1feb9c82209672179d">RealSolver</a>
-, <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9de99bd71db3e0d3eaf4742e563e51f4">Planner</a>
+, <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>
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 </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>
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 </li>
+<li>publish_ROS()
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a3b15409bbe03f81e3d0c40a8d28aa759">RealSolverROS</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_func_s.html b/docs/functions_func_s.html
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 </li>
+<li>setClusterBoard()
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae271d689c9f44a6d99d85c3c220ee998">RealSolver</a>
+</li>
 <li>setCurrBoard()
 : <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a88939c35e54e49996f68e04f1833291f">Base</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">Simple</a>
diff --git a/docs/functions_func_t.html b/docs/functions_func_t.html
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-: <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#aa97b10958dc6bc97e926390257a628c3">Basic</a>
+: <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">Basic</a>
 </li>
 <li>takeTurn()
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 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>
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+<li>getTrackBoard()
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a5c0b1fbbfcef2c96bb16d8d305994f0f">RealSolver</a>
+</li>
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index 3ebcfdc6..84bfb10d 100644
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+++ b/docs/functions_h.html
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 , <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a8d45eb075e342eaee415087ca2aa40f9">PerceiveGloveBC</a>
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+<li>HEADER
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a2e4548f2dab79d01b1870c8c432a6bf1">bcolors</a>
+</li>
 <li>height_estimator
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+, <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#a61569f2965b7a369eb10b6d75d410d11">ParamColorCluster</a>
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 , <a class="el" href="classpuzzle_1_1piece_1_1EdgeDes.html#a61569f2965b7a369eb10b6d75d410d11">EdgeDes</a>
 , <a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html#a61569f2965b7a369eb10b6d75d410d11">ParamRunner</a>
diff --git a/docs/functions_l.html b/docs/functions_l.html
index 46f72450..a37dd1d3 100644
--- a/docs/functions_l.html
+++ b/docs/functions_l.html
@@ -146,6 +146,12 @@ <h3><a id="index_l"></a>- l -</h3><ul>
 <li>loc_history
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a43161706558a5b37e9c5578169a941db">Planner</a>
 </li>
+<li>loc_history_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a10cf5e3fb8c5f20971b484131867e9de">RealSolverROS</a>
+</li>
+<li>loc_pulse_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#aad6f6117fcb2c945f476420d4c205e09">RealSolverROS</a>
+</li>
 <li>low_th
 : <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a12d3f793c21450625a0f80a9c5b2d1de">SceneInterpreterV1</a>
 </li>
diff --git a/docs/functions_m.html b/docs/functions_m.html
index e05a3999..c1a92d6a 100644
--- a/docs/functions_m.html
+++ b/docs/functions_m.html
@@ -146,6 +146,9 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 <li>maxMargin
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html#a41968633dd8f8a61bad5b876b519c51d">inCornerEstimator</a>
 </li>
+<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>
diff --git a/docs/functions_o.html b/docs/functions_o.html
index f53f2430..81bd4757 100644
--- a/docs/functions_o.html
+++ b/docs/functions_o.html
@@ -68,6 +68,15 @@ <h3><a id="index_o"></a>- o -</h3><ul>
 <li>offsetThreshold()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html#a2938193dd77c87baa89227f185a95586">PlanarModel</a>
 </li>
+<li>OKBLUE
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#af59da71d3904928ab26f869b43748a21">bcolors</a>
+</li>
+<li>OKCYAN
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a9eb1dca939d19395bb2575655512c203">bcolors</a>
+</li>
+<li>OKGREEN
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#a8144a5ca0d0e87f9379f1e659cd2d91b">bcolors</a>
+</li>
 <li>opening()
 : <a class="el" href="classimprocessor_1_1mask_1_1mask.html#a15fc315b40e482ce487168fa8fd6a5f7">mask</a>
 </li>
diff --git a/docs/functions_p.html b/docs/functions_p.html
index 671c4ab9..4afc9160 100644
--- a/docs/functions_p.html
+++ b/docs/functions_p.html
@@ -209,7 +209,8 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 : <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">Template</a>
 </li>
 <li>plan
-: <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">Simple</a>
+: <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>
 </li>
 <li>plane_params
 : <a class="el" href="classcamera_1_1tabletop_1_1tabletop__plane_1_1tabletopPlaneEstimator.html#aa36bbcf8fb65c55b062171afc3bb0fb3">tabletopPlaneEstimator</a>
@@ -227,7 +228,7 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 : <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a655c258270d4220250da3d6b214280ae">Simple</a>
 </li>
 <li>planOrdered()
-: <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a50a81e9083a1d92f79015083941e58be">Simple</a>
+: <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2757d0319c98e02b205c106d266a5f73">Simple</a>
 </li>
 <li>pLevel
 : <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a6ec77c4ed7e60ea945d0cda07cb14c19">Progress</a>
@@ -334,8 +335,8 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a1f45766bf9d26c6a86fae753e9f7f94f">boardPerceive</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a9d4361310e3e223033db1f89377b319e">Edge</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a77e8741ddbf6f9accfba792c81b10d07">Sift</a>
-, <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a7014699b5efa8f1feb9c82209672179d">RealSolver</a>
-, <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9de99bd71db3e0d3eaf4742e563e51f4">Planner</a>
+, <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>
@@ -379,6 +380,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <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>
@@ -406,6 +410,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <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>
@@ -416,6 +423,9 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 <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>
diff --git a/docs/functions_s.html b/docs/functions_s.html
index 9c09f56f..85cd896f 100644
--- a/docs/functions_s.html
+++ b/docs/functions_s.html
@@ -141,6 +141,7 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">Histogram</a>
 , <a class="el" href="classmoments_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">Moments</a>
 , <a class="el" href="classpca_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">PCA</a>
+, <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a751cecd26ec6f2d2baf279fb3596cc3d">ByColor</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ab7acfeb451527a04566cf59607a1ebd4">Edge</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a13e0dd98dfa8069f3510356f495e0d16">HistogramCV</a>
 , <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">Moments</a>
@@ -213,6 +214,9 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>set_model()
 : <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html#a03d8b203ea06dec84528dd51f9ffbec7">inCorner</a>
 </li>
+<li>setClusterBoard()
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ae271d689c9f44a6d99d85c3c220ee998">RealSolver</a>
+</li>
 <li>setCurrBoard()
 : <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a88939c35e54e49996f68e04f1833291f">Base</a>
 , <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">Simple</a>
@@ -394,6 +398,12 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 <li>status_history
 : <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">Planner</a>
 </li>
+<li>status_history_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#ab6ea5b9a370455c4201dfd3bd0ec9acc">RealSolverROS</a>
+</li>
+<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>
@@ -411,6 +421,8 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 </li>
 <li>str
 : <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>
diff --git a/docs/functions_t.html b/docs/functions_t.html
index 3922ac65..11cff140 100644
--- a/docs/functions_t.html
+++ b/docs/functions_t.html
@@ -73,7 +73,7 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 : <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#aa97b10958dc6bc97e926390257a628c3">Basic</a>
+: <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ad2e7b52c90b31229acc40514a755fffe">Basic</a>
 </li>
 <li>takeTurn()
 : <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ac41924d50ff336544c5d99cd9500cfa3">Base</a>
@@ -142,6 +142,9 @@ <h3><a id="index_t"></a>- t -</h3><ul>
 <li>theCalibrated
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a9993320adb175b89e5500acf486a19c5">RealSolver</a>
 </li>
+<li>theClusterBoard
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a1e2c53b84ac462c31799a558c977e3c6">RealSolver</a>
+</li>
 <li>theManager
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#af190e1ce1d44ba0da831d0f0955b33eb">RealSolver</a>
 </li>
diff --git a/docs/functions_u.html b/docs/functions_u.html
index bda43c03..95383786 100644
--- a/docs/functions_u.html
+++ b/docs/functions_u.html
@@ -65,6 +65,9 @@ <h3><a id="index_u"></a>- u -</h3><ul>
 <li>UNDEFINED
 : <a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a1c7b7d7f0afb43d32bc29971b997c796">EdgeType</a>
 </li>
+<li>UNDERLINE
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#adfd2e04a8cd1c80e5363474b3e69bde0">bcolors</a>
+</li>
 <li>UNKNOWN
 : <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus</a>
 </li>
diff --git a/docs/functions_vars.html b/docs/functions_vars.html
index ccb5aa51..d1e5bf26 100644
--- a/docs/functions_vars.html
+++ b/docs/functions_vars.html
@@ -150,6 +150,9 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 <li>aruco_dict
 : <a class="el" href="classcamera_1_1extrinsic_1_1aruco_1_1CtoW__Calibrator__aruco.html#a2f28482ae4ba02c4483e262ea80d936f">CtoW_Calibrator_aruco</a>
 </li>
+<li>assignmentMethod
+: <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a78ff6f4ab9dda3bded60656e564ae667">Manager</a>
+</li>
 <li>auto_compress
 : <a class="el" href="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html#a11eb7107cf4bdb84682b5e473ce1ffaa">vidWriter_ROS</a>
 </li>
diff --git a/docs/functions_vars_b.html b/docs/functions_vars_b.html
index 48eaacf1..09c17ad6 100644
--- a/docs/functions_vars_b.html
+++ b/docs/functions_vars_b.html
@@ -69,6 +69,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>basic
 : <a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html#a57cc16434325e061baa927667d16b50b">Params</a>
 </li>
+<li>bClusterImage
+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ade55d4229f42284f7e3397f9b7819d4b">RealSolver</a>
+</li>
 <li>before_scale
 : <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a3b3864e4aa627374980909112249a442">SceneInterpreterV1</a>
 </li>
@@ -110,6 +113,9 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>bMeasImage
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#aa2f349dfee9b1110e25265d7e980da95">RealSolver</a>
 </li>
+<li>bMeasImage_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a7b965c1c3d4fc3e7631f5a14fd27da4a">RealSolverROS</a>
+</li>
 <li>board
 : <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af3184e6d3aac51d64ce9a9af9571c9c0">Simple</a>
 , <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#af3184e6d3aac51d64ce9a9af9571c9c0">boardPerceive</a>
@@ -120,11 +126,15 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>boardMeasurement
 : <a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a390000acbb9c0eab381cd19270505526">Correspondences</a>
 </li>
+<li>BOLD
+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#ac7b767a9a5b6792d2190c0986af8efcd">bcolors</a>
+</li>
 <li>bool
 : <a class="el" href="classdetector_1_1base_1_1ActivityState.html#af6a258d8f3ee5206d682d799316314b1">ActivityState</a>
 , <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1Params__cv.html#af6a258d8f3ee5206d682d799316314b1">Params_cv</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#af6a258d8f3ee5206d682d799316314b1">PerceiverState</a>
 , <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>
@@ -141,9 +151,15 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 <li>bTrackImage
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2118ff93d9d0097174c9ea0b60e3e362">RealSolver</a>
 </li>
+<li>bTrackImage_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#a56b48b97722ea14184438615681c1c04">RealSolverROS</a>
+</li>
 <li>bTrackImage_SolID
 : <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a0279d7cda5bb32a73334f852ed20136b">RealSolver</a>
 </li>
+<li>bTrackImage_SolID_pub
+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#aebbcb5b847f650897ad746cc5286788d">RealSolverROS</a>
+</li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
diff --git a/docs/functions_vars_e.html b/docs/functions_vars_e.html
index 9d027280..71b80079 100644
--- a/docs/functions_vars_e.html
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+</li>
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+: <a class="el" href="classpuzzle_1_1runnerROS_1_1RealSolverROS.html#ab6ea5b9a370455c4201dfd3bd0ec9acc">RealSolverROS</a>
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+, <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html#a4b99ff73a8a869319570237b5c57ab03">ParamColorCluster</a>
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+: <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a1e2c53b84ac462c31799a558c977e3c6">RealSolver</a>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+: <a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a1c7b7d7f0afb43d32bc29971b997c796">EdgeType</a>
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+: <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1bcolors.html#adfd2e04a8cd1c80e5363474b3e69bde0">bcolors</a>
+</li>
+<li>UNKNOWN
+: <a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus</a>
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+<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>
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+<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_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_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_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_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_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_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_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_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_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_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_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_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_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_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="classpuzzle_1_1manager_1_1ManagerParms.html" target="_self">ManagerParms</a></td><td class="desc"></td></tr>
-<tr id="row_61_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_61_" class="arrow" onclick="toggleFolder('61_')">&#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"></td></tr>
-<tr id="row_61_0_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_61_0_" class="arrow" onclick="toggleFolder('61_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 </td></tr>
-<tr id="row_61_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="classpuzzle_1_1pieces_1_1edge_1_1Edge.html" target="_self">Edge</a></td><td class="desc"></td></tr>
-<tr id="row_61_0_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_1pieces_1_1matchDifferent_1_1Distance.html" target="_self">Distance</a></td><td class="desc"></td></tr>
-<tr id="row_61_0_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_1pieces_1_1matchDifferent_1_1HistogramCV.html" target="_self">HistogramCV</a></td><td class="desc"></td></tr>
-<tr id="row_61_0_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_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_61_0_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_1pieces_1_1matchDifferent_1_1PCA.html" target="_self">PCA</a></td><td class="desc">Uses pca to calculate rotation </td></tr>
-<tr id="row_61_1_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_61_1_" class="arrow" onclick="toggleFolder('61_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"></td></tr>
-<tr id="row_61_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="classpuzzle_1_1pieces_1_1sift_1_1Sift.html" target="_self">Sift</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><b>object</b></td><td class="desc"></td></tr>
-<tr id="row_62_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_1utils_1_1writer_1_1frameWriter.html" target="_self">frameWriter</a></td><td class="desc"></td></tr>
-<tr id="row_62_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="classcamera_1_1utils_1_1writer_1_1vidWriter.html" target="_self">vidWriter</a></td><td class="desc"></td></tr>
-<tr id="row_62_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="classcamera_1_1utils_1_1writer__ros_1_1vidWriter__ROS.html" target="_self">vidWriter_ROS</a></td><td class="desc"></td></tr>
-<tr id="row_62_3_" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_62_3_" class="arrow" onclick="toggleFolder('62_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_62_3_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="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 </td></tr>
-<tr id="row_62_3_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="classbyRegion_1_1Planar.html" target="_self">Planar</a></td><td class="desc">Activity detection based on lying in specific planar regions </td></tr>
-<tr id="row_62_3_1_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_62_3_1_" class="arrow" onclick="toggleFolder('62_3_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1inImage_1_1inImage.html" target="_self">inImage</a></td><td class="desc">The most basic object or instance detector from image input </td></tr>
-<tr id="row_62_3_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="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 </td></tr>
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-<tr id="row_62_3_1_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="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_62_3_1_1_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="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html" target="_self">bgmodelGMM_cv</a></td><td class="desc"></td></tr>
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-<tr id="row_62_3_1_2_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_62_3_1_2_0_" class="arrow" onclick="toggleFolder('62_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_62_3_1_2_0_0_" 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_62_3_1_2_0_1_" 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 </td></tr>
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+<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_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_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_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_1bgmodel_1_1Gaussian_1_1SGMstate.html" target="_self">SGMstate</a></td><td class="desc"></td></tr>
-<tr id="row_93_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_93_" class="arrow" onclick="toggleFolder('93_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>simple</b></td><td class="desc"></td></tr>
-<tr id="row_93_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_1HoveringGlove_1_1Perceiver.html" target="_self">Perceiver</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:16px;display:inline-block;">&#160;</span><span id="arr_94_0_" class="arrow" onclick="toggleFolder('94_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_94_0_0_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_94_0_0_" class="arrow" onclick="toggleFolder('94_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>
@@ -302,108 +303,109 @@
 <tr id="row_94_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_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html" target="_self">Puzzle_Residual</a></td><td class="desc"></td></tr>
 <tr id="row_94_0_1_2_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_94_0_1_2_" class="arrow" onclick="toggleFolder('94_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_94_0_1_2_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="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_95_"><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_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="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_97_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_97_" class="arrow" onclick="toggleFolder('97_')">&#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_97_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_1tabletop_1_1height__estimator_1_1HeightEstimator.html" target="_self">HeightEstimator</a></td><td class="desc"></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><b>targetSG_Params</b></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="classSurveillance_1_1layers_1_1human__seg_1_1Params.html" target="_self">Params</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><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_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="classpuzzle_1_1piece_1_1Regular.html" target="_self">Regular</a></td><td class="desc"></td></tr>
-<tr id="row_100_" 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_1utils_1_1pygameProcessing_1_1TextRectException.html" target="_self">TextRectException</a></td><td class="desc"></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="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html" target="_self">tModel_SG</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="classtrackpointer_1_1centroid_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
-<tr id="row_103_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_103_" class="arrow" onclick="toggleFolder('103_')">&#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_103_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="classtriggers_1_1Always.html" target="_self">Always</a></td><td class="desc">Class that always triggers a report </td></tr>
-<tr id="row_103_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="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_103_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="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_103_3_" 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="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_103_4_" 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="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_103_5_" 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="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_103_6_" 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="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_103_7_" 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="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_103_8_" 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="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_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><b>basic</b></td><td class="desc"></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="classimprocessor_1_1mask_1_1mask.html" target="_self">mask</a></td><td class="desc"></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>Board</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="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html" target="_self">ByColor</a></td><td class="desc"></td></tr>
-<tr id="row_105_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_1clusters_1_1byShape_1_1ByShape.html" target="_self">ByShape</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="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_1_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="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_6_" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_106_1_6_" class="arrow" onclick="toggleFolder('106_1_6_')">&#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_6_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_106_1_6_0_" class="arrow" onclick="toggleFolder('106_1_6_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_6_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_6_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_6_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_6_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_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="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_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_1Glove_1_1CfgGloveDetector.html" target="_self">CfgGloveDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
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-<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_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_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_1HoveringHand_1_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
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-<tr id="row_109_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_1manager_1_1Manager.html" target="_self">Manager</a></td><td class="desc"></td></tr>
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-<tr id="row_110_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_1activity_1_1FSM_1_1Pick.html" target="_self">Pick</a></td><td class="desc"></td></tr>
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-<tr id="row_111_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_111_" class="arrow" onclick="toggleFolder('111_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>MatchDifferent</b></td><td class="desc"></td></tr>
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-<tr id="row_112_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_112_" class="arrow" onclick="toggleFolder('112_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>MatchSimilar</b></td><td class="desc"></td></tr>
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-<tr id="row_113_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="classpuzzle_1_1runner_1_1ParamRunner.html" target="_self">ParamRunner</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: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_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>
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+<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"></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>Board</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="classpuzzle_1_1clusters_1_1byShape_1_1ByShape.html" target="_self">ByShape</a></td><td class="desc"></td></tr>
+<tr id="row_107_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_107_" class="arrow" onclick="toggleFolder('107_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><b>CfgNode</b></td><td class="desc"></td></tr>
+<tr id="row_107_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_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_107_1_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_107_1_" class="arrow" onclick="toggleFolder('107_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_107_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="classbyMotion_1_1CfgMoving.html" target="_self">CfgMoving</a></td><td class="desc">Configuration setting specifier for "motion" detector </td></tr>
+<tr id="row_107_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_107_1_1_" class="arrow" onclick="toggleFolder('107_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_107_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="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_107_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="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_107_1_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="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_107_1_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="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_107_1_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="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_107_1_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_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_107_1_6_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_107_1_6_" class="arrow" onclick="toggleFolder('107_1_6_')">&#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_107_1_6_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_107_1_6_0_" class="arrow" onclick="toggleFolder('107_1_6_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_107_1_6_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="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_107_1_6_0_1_" 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_1CfgHistogramCV.html" target="_self">CfgHistogramCV</a></td><td class="desc">Configuration setting specifier for Histogram puzzle comparator class </td></tr>
+<tr id="row_107_1_6_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>
+<tr id="row_107_1_6_0_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="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_107_1_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_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_107_1_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="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_107_1_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="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_107_1_9_" 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_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_107_1_10_" 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_1CfgHandDetector.html" target="_self">CfgHandDetector</a></td><td class="desc">Configuration instance for glove tracking perceiver </td></tr>
+<tr id="row_107_1_11_" 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_1CfgPuzzleScene.html" target="_self">CfgPuzzleScene</a></td><td class="desc">Configuration instance for Puzzle Scene perceiver </td></tr>
+<tr id="row_107_1_12_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_107_1_12_" class="arrow" onclick="toggleFolder('107_1_12_')">&#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_107_1_12_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_107_1_12_0_" class="arrow" onclick="toggleFolder('107_1_12_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_107_1_12_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_107_1_12_0_0_" class="arrow" onclick="toggleFolder('107_1_12_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_107_1_12_0_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span id="arr_107_1_12_0_0_0_" class="arrow" onclick="toggleFolder('107_1_12_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_107_1_12_0_0_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span id="arr_107_1_12_0_0_0_0_" class="arrow" onclick="toggleFolder('107_1_12_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_107_1_12_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_107_1_12_0_0_0_0_0_" class="arrow" onclick="toggleFolder('107_1_12_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_107_1_12_0_0_0_0_0_0_" class="even" 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_107_1_13_" 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_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_107_2_" class="even" style="display:none;"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_107_2_" class="arrow" onclick="toggleFolder('107_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_107_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="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_107_2_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_107_2_1_" class="arrow" onclick="toggleFolder('107_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_107_2_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="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_107_2_2_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_107_2_2_" class="arrow" onclick="toggleFolder('107_2_2_')">&#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_107_2_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="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_107_2_2_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="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>
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diff --git a/docs/inherit_graph_100.map b/docs/inherit_graph_100.map
new file mode 100644
index 00000000..e94ee5b1
--- /dev/null
+++ b/docs/inherit_graph_100.map
@@ -0,0 +1,3 @@
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diff --git a/docs/inherit_graph_100.md5 b/docs/inherit_graph_100.md5
new file mode 100644
index 00000000..3f75654c
--- /dev/null
+++ b/docs/inherit_graph_100.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/docs/inherit_graph_100.png b/docs/inherit_graph_100.png
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diff --git a/docs/inherit_graph_12.map b/docs/inherit_graph_12.map
index 8524a5f4..47cb5beb 100644
--- a/docs/inherit_graph_12.map
+++ b/docs/inherit_graph_12.map
@@ -1,3 +1,3 @@
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diff --git a/docs/inherit_graph_13.md5 b/docs/inherit_graph_13.md5
index f0be957b..6c961aaf 100644
--- a/docs/inherit_graph_13.md5
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index a93f8d66..360f692c 100644
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diff --git a/docs/inherit_graph_17.map b/docs/inherit_graph_17.map
index 8a81aba5..b2140f49 100644
--- a/docs/inherit_graph_17.map
+++ b/docs/inherit_graph_17.map
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 <map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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diff --git a/docs/inherit_graph_17.md5 b/docs/inherit_graph_17.md5
index b10e7248..cff36da6 100644
--- a/docs/inherit_graph_17.md5
+++ b/docs/inherit_graph_17.md5
@@ -1 +1 @@
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diff --git a/docs/inherit_graph_19.png b/docs/inherit_graph_19.png
index 200dfaefc64656cb56dd3536997f734f97d25099..103ff54a93f712499cc949a7b7d6212f78ad0c56 100644
GIT binary patch
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diff --git a/docs/inherit_graph_20.map b/docs/inherit_graph_20.map
index ba32189c..837f94cf 100644
--- a/docs/inherit_graph_20.map
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diff --git a/docs/inherit_graph_20.md5 b/docs/inherit_graph_20.md5
index f5de39c4..45ab9456 100644
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diff --git a/docs/inherit_graph_21.md5 b/docs/inherit_graph_21.md5
index f85fb8e4..c4a2c02a 100644
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diff --git a/docs/inherit_graph_23.map b/docs/inherit_graph_23.map
index fb781e99..0b02ce23 100644
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diff --git a/docs/inherit_graph_23.md5 b/docs/inherit_graph_23.md5
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diff --git a/docs/inherit_graph_24.map b/docs/inherit_graph_24.map
index dfa61051..fb781e99 100644
--- a/docs/inherit_graph_24.map
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diff --git a/docs/inherit_graph_24.md5 b/docs/inherit_graph_24.md5
index b07d7646..f6b7f10f 100644
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diff --git a/docs/inherit_graph_25.map b/docs/inherit_graph_25.map
index 5e7c78e3..dfa61051 100644
--- a/docs/inherit_graph_25.map
+++ b/docs/inherit_graph_25.map
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diff --git a/docs/inherit_graph_25.md5 b/docs/inherit_graph_25.md5
index 1152f9b1..b07d7646 100644
--- a/docs/inherit_graph_25.md5
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diff --git a/docs/inherit_graph_29.map b/docs/inherit_graph_29.map
index bf056053..c9769003 100644
--- a/docs/inherit_graph_29.map
+++ b/docs/inherit_graph_29.map
@@ -1,3 +1,3 @@
 <map id="Graphical Class Hierarchy" name="Graphical Class Hierarchy">
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diff --git a/docs/inherit_graph_29.md5 b/docs/inherit_graph_29.md5
index d4b59b2e..e6b2226f 100644
--- a/docs/inherit_graph_29.md5
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diff --git a/docs/inherit_graph_33.md5 b/docs/inherit_graph_33.md5
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diff --git a/docs/inherit_graph_34.map b/docs/inherit_graph_34.map
index d7ac00f9..6bd72e8f 100644
--- a/docs/inherit_graph_34.map
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diff --git a/docs/inherit_graph_34.md5 b/docs/inherit_graph_34.md5
index e8cae9df..07aa8dc0 100644
--- a/docs/inherit_graph_34.md5
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diff --git a/docs/inherit_graph_35.map b/docs/inherit_graph_35.map
index 42d1c67b..d7ac00f9 100644
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diff --git a/docs/inherit_graph_35.md5 b/docs/inherit_graph_35.md5
index 055efca0..e8cae9df 100644
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diff --git a/docs/inherit_graph_36.map b/docs/inherit_graph_36.map
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diff --git a/docs/inherit_graph_36.md5 b/docs/inherit_graph_36.md5
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diff --git a/docs/inherit_graph_37.map b/docs/inherit_graph_37.map
index 2f38b629..792308ce 100644
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diff --git a/docs/inherit_graph_37.md5 b/docs/inherit_graph_37.md5
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diff --git a/docs/inherit_graph_38.map b/docs/inherit_graph_38.map
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diff --git a/docs/inherit_graph_39.map b/docs/inherit_graph_39.map
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diff --git a/docs/inherit_graph_39.md5 b/docs/inherit_graph_39.md5
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diff --git a/docs/inherit_graph_40.map b/docs/inherit_graph_40.map
index acbe0794..446ac2f8 100644
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diff --git a/docs/inherit_graph_40.md5 b/docs/inherit_graph_40.md5
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diff --git a/docs/inherit_graph_41.map b/docs/inherit_graph_41.map
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diff --git a/docs/inherit_graph_56.map b/docs/inherit_graph_56.map
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new file mode 100644
index 00000000..de14c0d8
--- /dev/null
+++ b/docs/inherit_graph_84.map
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diff --git a/docs/inherit_graph_85.map b/docs/inherit_graph_85.map
new file mode 100644
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new file mode 100644
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diff --git a/docs/inherit_graph_86.map b/docs/inherit_graph_86.map
new file mode 100644
index 00000000..e52ebae9
--- /dev/null
+++ b/docs/inherit_graph_86.map
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diff --git a/docs/inherit_graph_86.md5 b/docs/inherit_graph_86.md5
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GIT binary patch
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literal 0
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diff --git a/docs/inherit_graph_87.map b/docs/inherit_graph_87.map
new file mode 100644
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+++ b/docs/inherit_graph_87.map
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diff --git a/docs/inherit_graph_87.md5 b/docs/inherit_graph_87.md5
new file mode 100644
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GIT binary patch
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index 199b81b3..5fffbbae 100644
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-<tr><td><img src="inherit_graph_9.png" border="0" alt="" usemap="#Board"/>
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 <map name="Calibrator" id="Calibrator">
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 </td></tr>
-<tr><td><img src="inherit_graph_12.png" border="0" alt="" usemap="#CfgColor"/>
+<tr><td><img src="inherit_graph_13.png" border="0" alt="" usemap="#CfgColor"/>
 <map name="CfgColor" id="CfgColor">
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 </td></tr>
-<tr><td><img src="inherit_graph_13.png" border="0" alt="" usemap="#CfgD435"/>
+<tr><td><img src="inherit_graph_14.png" border="0" alt="" usemap="#CfgD435"/>
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 <map name="CfgDetector" id="CfgDetector">
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 </td></tr>
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 </td></tr>
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 <map name="CfgPuzzlePerceiver" id="CfgPuzzlePerceiver">
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 </map>
 </td></tr>
-<tr><td><img src="inherit_graph_17.png" border="0" alt="" usemap="#CfgROSCam"/>
+<tr><td><img src="inherit_graph_18.png" border="0" alt="" usemap="#CfgROSCam"/>
 <map name="CfgROSCam" id="CfgROSCam">
 <area shape="rect" id="node2" href="classcamera_1_1rostopic_1_1CfgROSCam.html" title="Configuration setting specifier for ROS connected camera. " alt="" coords="143,5,243,32"/>
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 <map name="CfgSIFTCV" id="CfgSIFTCV">
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 </map>
 </td></tr>
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 <map name="Channel" id="Channel">
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+<tr><td><img src="inherit_graph_29.png" border="0" alt="" usemap="#Depth"/>
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+@ author                Yiye Chen.          yychen2019@gatech.edu
+@ date                  08/19/2021
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+    @date               08/12/2021</pre> </div></div><!-- contents -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_data_recorder 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>
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+</table><table class="memberdecls">
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+<tr class="memitem:a8187411843a6284ffb964ef3fb9fcab3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a8187411843a6284ffb964ef3fb9fcab3">args</a></td></tr>
+<tr class="separator:a8187411843a6284ffb964ef3fb9fcab3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a098b3e2b76b290dc086dbf368e3f4be5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a098b3e2b76b290dc086dbf368e3f4be5">bag_path</a> = os.path.join(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#aad9575350ee1998a136d232dbb870450">fDir</a>, args.rosbag_name)</td></tr>
+<tr class="separator:a098b3e2b76b290dc086dbf368e3f4be5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9bda50c2ecb07d8a4e9f694c60e1120f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a9bda50c2ecb07d8a4e9f694c60e1120f">cfg</a></td></tr>
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+<tr class="memitem:a4c9ef422180cc13bda2c623c7b9d43e5"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">command</a> = &quot;rosbag record -a --lz4 -o {}&quot;.format(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">rosbag_path</a>)</td></tr>
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+<tr class="separator:aad9575350ee1998a136d232dbb870450"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98d9bff4e9bedeb77abd42834320502c"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">rosbag_path</a> = &quot;data.bag&quot;</td></tr>
+<tr class="separator:a98d9bff4e9bedeb77abd42834320502c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f41af2452de32b9ffeea69e6f2397b7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a5f41af2452de32b9ffeea69e6f2397b7">rosbag_proc</a> = subprocess.Popen(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">command</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a>=True)</td></tr>
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+<tr class="separator:a6050e334344d301b985665eb2622b0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a></td></tr>
+<tr class="separator:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief:     The rosbag data recorder records the calibration data and test data into a single rosbag.
+        It won't run the system on the test data
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           02/24/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a6a263db19510916490e528e56eb08ee7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a263db19510916490e528e56eb08ee7">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_data_recorder.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a8187411843a6284ffb964ef3fb9fcab3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8187411843a6284ffb964ef3fb9fcab3">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">args</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a098b3e2b76b290dc086dbf368e3f4be5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a098b3e2b76b290dc086dbf368e3f4be5">&#9670;&nbsp;</a></span>bag_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bag_path = os.path.join(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#aad9575350ee1998a136d232dbb870450">fDir</a>, args.rosbag_name)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9bda50c2ecb07d8a4e9f694c60e1120f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bda50c2ecb07d8a4e9f694c60e1120f">&#9670;&nbsp;</a></span>cfg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cfg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4c9ef422180cc13bda2c623c7b9d43e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c9ef422180cc13bda2c623c7b9d43e5">&#9670;&nbsp;</a></span>command</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string command = &quot;rosbag record -a --lz4 -o {}&quot;.format(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">rosbag_path</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aad9575350ee1998a136d232dbb870450"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad9575350ee1998a136d232dbb870450">&#9670;&nbsp;</a></span>fDir</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string fDir = &quot;./&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a98d9bff4e9bedeb77abd42834320502c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98d9bff4e9bedeb77abd42834320502c">&#9670;&nbsp;</a></span>rosbag_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_path = &quot;data.bag&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f41af2452de32b9ffeea69e6f2397b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f41af2452de32b9ffeea69e6f2397b7">&#9670;&nbsp;</a></span>rosbag_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_proc = subprocess.Popen(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">command</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a>=True)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6050e334344d301b985665eb2622b0c5">&#9670;&nbsp;</a></span>roscore_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">roscore_proc = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3d4fbb9cf8a069dc079bb329a7e58b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3d4fbb9cf8a069dc079bb329a7e58b9">&#9670;&nbsp;</a></span>shell</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">shell</td>
+        </tr>
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+</div><div class="memdoc">
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+<!-- 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> 1.8.13
+</small></address>
+</body>
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diff --git a/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html b/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html
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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 id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_replay 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:ae44248362ba50db844223986ec83ac25"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">get_args</a> ()</td></tr>
+<tr class="separator:ae44248362ba50db844223986ec83ac25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8cdf5817ce48453794710fd19e3cc76"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ab8cdf5817ce48453794710fd19e3cc76">main</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
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+Variables</h2></td></tr>
+<tr class="memitem:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">get_args</a>()</td></tr>
+<tr class="separator:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief:         Replays Surveillance recording rosbag file, video portion only. 
+
+@author         Yiye Chen.          yychen2019@gatech.edu
+@author         Patricio Vela.      pvela@gatech.edu
+@date           07/01/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="ae44248362ba50db844223986ec83ac25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae44248362ba50db844223986ec83ac25">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
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+          <td class="memname">def Surveillance.deployment.ROS.rosbag_replay.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+
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+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_replay.main </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+<tr class="memitem:a3332d321c6c5000fc58ad3da7168ada4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a3332d321c6c5000fc58ad3da7168ada4">timestamp_ending</a> = None</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief          The test script that run the system on a rosbag file,
+                include building the system and test the system.
+
+@author         Yiye Chen,          yychen2019@gatech.edu
+                Yunzhi Lin,         yunzhi.lin@gatech.edu
+@date           02/25/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a595c24f79cb24129ea70535a14ea78fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a595c24f79cb24129ea70535a14ea78fd">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_runner.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac36673b9485bfa1e5b330c3e4879191b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac36673b9485bfa1e5b330c3e4879191b">&#9670;&nbsp;</a></span>resave_to_folder()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_runner.resave_to_folder </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>target</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a28eaecb63bba79eae4f45a526af2c2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def args = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a595c24f79cb24129ea70535a14ea78fd">get_args</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a91cf416c947b10c19071657221dc83d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91cf416c947b10c19071657221dc83d5">&#9670;&nbsp;</a></span>bag</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bag = rosbag.Bag(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ade4c4b1a66f0f51dec2ec9bfa5af748a">rosbag_file</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae38f754ee124747e5a6691e1ae03e1b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae38f754ee124747e5a6691e1ae03e1b2">&#9670;&nbsp;</a></span>call_back_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int call_back_id = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9e0992eae3950adccaf4847fbff4231d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e0992eae3950adccaf4847fbff4231d">&#9670;&nbsp;</a></span>command</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">command</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  <span class="stringliteral">&quot;rosbag play {} -d 2 -r 1 -s 15 -q --topic {} {} {}&quot;</span>.format(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;           rosbag_file, test_rgb_topic, test_dep_topic, test_activity_topic)</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a4f0dca78b998ba41b1799a11f1287c87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f0dca78b998ba41b1799a11f1287c87">&#9670;&nbsp;</a></span>display</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">display</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac389d2a7c41bdb1f7da93bb1e86ff1a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac389d2a7c41bdb1f7da93bb1e86ff1a5">&#9670;&nbsp;</a></span>force_restart</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">force_restart</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Local configuration for debug. </p>
+
+</div>
+</div>
+<a id="a4f88be06550a90b3851570a4f5d4d556"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f88be06550a90b3851570a4f5d4d556">&#9670;&nbsp;</a></span>info_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">info_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  yaml.safe_load(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;            subprocess.Popen([<span class="stringliteral">&#39;rosbag&#39;</span>, <span class="stringliteral">&#39;info&#39;</span>, <span class="stringliteral">&#39;--yaml&#39;</span>, rosbag_file], stdout=subprocess.PIPE).communicate()[0])</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a6e027ffa043575312851d123228ae8eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e027ffa043575312851d123228ae8eb">&#9670;&nbsp;</a></span>listener</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">listener = <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html">ImageListener</a>(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af1b662fe6ae53fbcd5a505235805d788"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1b662fe6ae53fbcd5a505235805d788">&#9670;&nbsp;</a></span>lock</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">lock = threading.Lock()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6cd45efb22043ced690e818f515f1a7d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6cd45efb22043ced690e818f515f1a7d">&#9670;&nbsp;</a></span>puzzle_solver</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_solver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4d3ddc8d166cd01ec2e141d960dc9397"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d3ddc8d166cd01ec2e141d960dc9397">&#9670;&nbsp;</a></span>puzzle_solver_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_solver_mode</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aeaa069f28268f0faade3acdab2b520cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeaa069f28268f0faade3acdab2b520cd">&#9670;&nbsp;</a></span>read_activity</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">read_activity</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ade4c4b1a66f0f51dec2ec9bfa5af748a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade4c4b1a66f0f51dec2ec9bfa5af748a">&#9670;&nbsp;</a></span>rosbag_file</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_file = os.path.join(args.fDir, args.rosbag_name)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1d401f526bfe10afee540d2a4c32101b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d401f526bfe10afee540d2a4c32101b">&#9670;&nbsp;</a></span>rosbag_name</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_name</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6050e334344d301b985665eb2622b0c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6050e334344d301b985665eb2622b0c5">&#9670;&nbsp;</a></span>roscore_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">roscore_proc = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3d4fbb9cf8a069dc079bb329a7e58b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3d4fbb9cf8a069dc079bb329a7e58b9">&#9670;&nbsp;</a></span>shell</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">shell</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aec9631c3f0aed2255eac10a36ed957f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec9631c3f0aed2255eac10a36ed957f8">&#9670;&nbsp;</a></span>survelliance_system</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">survelliance_system</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a26273aaa2b70fd876810a0a53b8c7108"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26273aaa2b70fd876810a0a53b8c7108">&#9670;&nbsp;</a></span>target_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">list target_list = ['bTrack_SolID']</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a17ef2ddb9aa195e6d2d6fcdc5d5ad797"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17ef2ddb9aa195e6d2d6fcdc5d5ad797">&#9670;&nbsp;</a></span>test_activity_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_activity_topic = &quot;/test_activity&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab857d495188047a465cac9c75b9b5cea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab857d495188047a465cac9c75b9b5cea">&#9670;&nbsp;</a></span>test_dep_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_dep_topic = &quot;/test_depth&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4112567f92890b58522a60155e2bd257"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4112567f92890b58522a60155e2bd257">&#9670;&nbsp;</a></span>test_rgb_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_rgb_topic = &quot;/test_rgb&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad520fe067081cd5871a78fbd5906b77a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad520fe067081cd5871a78fbd5906b77a">&#9670;&nbsp;</a></span>timestamp_beginning</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">timestamp_beginning = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3332d321c6c5000fc58ad3da7168ada4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3332d321c6c5000fc58ad3da7168ada4">&#9670;&nbsp;</a></span>timestamp_ending</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">timestamp_ending = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html b/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html
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+<title>IVALab Python Libraries: Surveillance.deployment.ROS.rosbag_to_avi Namespace 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html">rosbag_to_avi</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_to_avi 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:aa6e8d89aceb7f0ed6a0a4212e1b86523"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a> ()</td></tr>
+<tr class="separator:aa6e8d89aceb7f0ed6a0a4212e1b86523"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4c0b53f23d40ff99d05e838e15af5d6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#ac4c0b53f23d40ff99d05e838e15af5d6">main</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a207668774f8bf54cd204eac1f32805d7">vid_path</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:ac4c0b53f23d40ff99d05e838e15af5d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9e5565f5afd1cef84f0334a8a7c9654"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:af9e5565f5afd1cef84f0334a8a7c9654"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a>()</td></tr>
+<tr class="separator:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a207668774f8bf54cd204eac1f32805d7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a207668774f8bf54cd204eac1f32805d7">vid_path</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a>(args.rosbag_name, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:a207668774f8bf54cd204eac1f32805d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief:     A script that convert the Surveillance recording rosbag file to the avi video file.
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           04/27/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="aa6e8d89aceb7f0ed6a0a4212e1b86523"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6e8d89aceb7f0ed6a0a4212e1b86523">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac4c0b53f23d40ff99d05e838e15af5d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4c0b53f23d40ff99d05e838e15af5d6">&#9670;&nbsp;</a></span>main()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.main </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>vid_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af9e5565f5afd1cef84f0334a8a7c9654"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9e5565f5afd1cef84f0334a8a7c9654">&#9670;&nbsp;</a></span>parse_vid_path()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.parse_vid_path </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a28eaecb63bba79eae4f45a526af2c2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def args = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a207668774f8bf54cd204eac1f32805d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a207668774f8bf54cd204eac1f32805d7">&#9670;&nbsp;</a></span>vid_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vid_path = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a>(args.rosbag_name, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1deployment_1_1activity__record.html b/docs/namespaceSurveillance_1_1deployment_1_1activity__record.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Surveillance.deployment.activity_record Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1activity__record.html">activity_record</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.activity_record Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:acfd4b8d50483eef27cb5eeee180e5aa4"><td class="memItemLeft" align="right" valign="top">dictionary&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1activity__record.html#acfd4b8d50483eef27cb5eeee180e5aa4">ACT_CODEBOOK</a></td></tr>
+<tr class="separator:acfd4b8d50483eef27cb5eeee180e5aa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="acfd4b8d50483eef27cb5eeee180e5aa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfd4b8d50483eef27cb5eeee180e5aa4">&#9670;&nbsp;</a></span>ACT_CODEBOOK</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">dictionary ACT_CODEBOOK</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  {</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    <span class="stringliteral">&quot;i&quot;</span>: <span class="stringliteral">&quot;Pick&quot;</span>,</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    <span class="stringliteral">&quot;l&quot;</span>: <span class="stringliteral">&quot;Place&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;}</div></div><!-- fragment -->
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1deployment_1_1default__params.html b/docs/namespaceSurveillance_1_1deployment_1_1default__params.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespaceSurveillance_1_1deployment_1_1default__params.html
@@ -0,0 +1,218 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Surveillance.deployment.default_params Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html">default_params</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.default_params Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a63d31866b1bfc6204aaac56b432e5f6f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">BGPARMAS</a></td></tr>
+<tr class="separator:a63d31866b1bfc6204aaac56b432e5f6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af491a781910dcde032bc4b44634083e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#af491a781910dcde032bc4b44634083e3">HPARAMS</a></td></tr>
+<tr class="separator:af491a781910dcde032bc4b44634083e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a065b6f148a7048203a603b059e3be42d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a065b6f148a7048203a603b059e3be42d">HTRACKER</a></td></tr>
+<tr class="separator:a065b6f148a7048203a603b059e3be42d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ff12ba84b360bbe1553c9070a5aa517"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a2ff12ba84b360bbe1553c9070a5aa517">kernel</a> = np.ones((15, 15), np.uint8)</td></tr>
+<tr class="separator:a2ff12ba84b360bbe1553c9070a5aa517"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ab2aa51aab5c1699a0158092e2486f8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a1ab2aa51aab5c1699a0158092e2486f8">mask_proc_puzzle_seg</a></td></tr>
+<tr class="separator:a1ab2aa51aab5c1699a0158092e2486f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda7eae0fc1a425e6e2c02f56bdbdb7f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#adda7eae0fc1a425e6e2c02f56bdbdb7f">PPARAMS</a></td></tr>
+<tr class="separator:adda7eae0fc1a425e6e2c02f56bdbdb7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3585e00a01b986a8505a81ad25dd05d1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a3585e00a01b986a8505a81ad25dd05d1">PTRACKER</a></td></tr>
+<tr class="separator:a3585e00a01b986a8505a81ad25dd05d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a154064f2dfbf7076428872bc3670f28c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a154064f2dfbf7076428872bc3670f28c">ROBPARAMS</a> = Robot_Seg.Params()</td></tr>
+<tr class="separator:a154064f2dfbf7076428872bc3670f28c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @ brief         The default parameters for the Surveillance System, including the settings and the
+    post-processing methods
+
+    @author:        Yiye Chen,          yychen2019@gatech.edu
+    @date:          02/26/2022</pre> </div><h2 class="groupheader">Variable Documentation</h2>
+<a id="a63d31866b1bfc6204aaac56b432e5f6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63d31866b1bfc6204aaac56b432e5f6f">&#9670;&nbsp;</a></span>BGPARMAS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BGPARMAS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Tabletop_Seg.Params_GMM(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    history=300,</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    NMixtures=3,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    varThreshold=30.,</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    detectShadows=<span class="keyword">True</span>,</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;    ShadowThreshold=0.5,</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: mask</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;)</div></div><!-- fragment -->
+</div>
+</div>
+<a id="af491a781910dcde032bc4b44634083e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af491a781910dcde032bc4b44634083e3">&#9670;&nbsp;</a></span>HPARAMS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">HPARAMS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Human_Seg.Params(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    det_th=8,</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: \</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;        cv2.dilate(</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;            mask.astype(np.uint8),</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;            np.ones((10, 10), dtype=np.uint8),</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;            1</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;        ).astype(bool)</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;)</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a065b6f148a7048203a603b059e3be42d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a065b6f148a7048203a603b059e3be42d">&#9670;&nbsp;</a></span>HTRACKER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">HTRACKER</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  centroid.centroid(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    params=centroid.Params(</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        plotStyle=<span class="stringliteral">&quot;bo&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    )</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;)</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a2ff12ba84b360bbe1553c9070a5aa517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ff12ba84b360bbe1553c9070a5aa517">&#9670;&nbsp;</a></span>kernel</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">kernel = np.ones((15, 15), np.uint8)</td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1ab2aa51aab5c1699a0158092e2486f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ab2aa51aab5c1699a0158092e2486f8">&#9670;&nbsp;</a></span>mask_proc_puzzle_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
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+</div>
+</div>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
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+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Puzzle_Seg.Params_Residual(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: \</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        mask_proc_puzzle_seg.apply(mask.astype(bool))</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;)</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a3585e00a01b986a8505a81ad25dd05d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3585e00a01b986a8505a81ad25dd05d1">&#9670;&nbsp;</a></span>PTRACKER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PTRACKER</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  mCentroid.centroidMulti(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    params=mCentroid.Params(</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        plotStyle=<span class="stringliteral">&quot;rx&quot;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    )</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;)</div></div><!-- fragment -->
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+<h2 class="memtitle"><span class="permalink"><a href="#a154064f2dfbf7076428872bc3670f28c">&#9670;&nbsp;</a></span>ROBPARAMS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ROBPARAMS = Robot_Seg.Params()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
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+</body>
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+<title>IVALab Python Libraries: Surveillance.deployment.utils Namespace Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html">utils</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">Surveillance.deployment.utils 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:ac6453e425b5829431c8124ef63eee2e4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#ac6453e425b5829431c8124ef63eee2e4">calc_closest_factors</a></td></tr>
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+<tr class="memitem:a70539f353d560cfc7522a6bf301e2596"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a70539f353d560cfc7522a6bf301e2596">decimalToBinary</a> (n)</td></tr>
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+<tr class="memitem:afc9968a3f8384181cedad1bab81c33d6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#afc9968a3f8384181cedad1bab81c33d6">depth_scaled</a> (depth)</td></tr>
+<tr class="separator:afc9968a3f8384181cedad1bab81c33d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a552fca8cd73d99ee69cdbc66a51b6668"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a552fca8cd73d99ee69cdbc66a51b6668">depth_to_before_scale</a> (depth, scale, dtype)</td></tr>
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+<tr class="memitem:a641191061a8f89e350e17520f80af81c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a641191061a8f89e350e17520f80af81c">display_option_convert</a> (code)</td></tr>
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+<tr class="memitem:a5161058f877b5d8268948cf2c33610fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a5161058f877b5d8268948cf2c33610fb">isBinary</a> (num)</td></tr>
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+<tr class="memitem:a7cc84244235fda459bb76c5ae7edc192"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a7cc84244235fda459bb76c5ae7edc192">NONROI_FUN</a> (H, W, top_ratio=0.2, down_ratio=0.1)</td></tr>
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+<tr class="memitem:a8f7450eba4afc02e018b58553d9dc863"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a8f7450eba4afc02e018b58553d9dc863">terminate_process_and_children</a> (p)</td></tr>
+<tr class="separator:a8f7450eba4afc02e018b58553d9dc863"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ac6453e425b5829431c8124ef63eee2e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6453e425b5829431c8124ef63eee2e4">&#9670;&nbsp;</a></span>calc_closest_factors()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.calc_closest_factors </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>c</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a70539f353d560cfc7522a6bf301e2596"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70539f353d560cfc7522a6bf301e2596">&#9670;&nbsp;</a></span>decimalToBinary()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.decimalToBinary </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert decimal to binary number.
+
+Args:
+    n: input
+
+Returns:</pre> 
+</div>
+</div>
+<a id="afc9968a3f8384181cedad1bab81c33d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc9968a3f8384181cedad1bab81c33d6">&#9670;&nbsp;</a></span>depth_scaled()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.depth_scaled </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Return True if the depth is a scaled float data, else False</pre> 
+</div>
+</div>
+<a id="a552fca8cd73d99ee69cdbc66a51b6668"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a552fca8cd73d99ee69cdbc66a51b6668">&#9670;&nbsp;</a></span>depth_to_before_scale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.depth_to_before_scale </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scale</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dtype</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a641191061a8f89e350e17520f80af81c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a641191061a8f89e350e17520f80af81c">&#9670;&nbsp;</a></span>display_option_convert()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.display_option_convert </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>code</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the input code into the designed format.
+
+Args:
+    code: The input display option.
+
+Returns:
+    bool_list: a code list of True or False.
+</pre> 
+</div>
+</div>
+<a id="a5161058f877b5d8268948cf2c33610fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5161058f877b5d8268948cf2c33610fb">&#9670;&nbsp;</a></span>isBinary()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.isBinary </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Check if the input is binary or not.
+
+Args:
+    num: The input number
+
+Returns:
+    Whether the input is binary or not.
+</pre> 
+</div>
+</div>
+<a id="a7cc84244235fda459bb76c5ae7edc192"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc84244235fda459bb76c5ae7edc192">&#9670;&nbsp;</a></span>NONROI_FUN()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.NONROI_FUN </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>H</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>W</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>top_ratio</em> = <code>0.2</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>down_ratio</em> = <code>0.1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4aedbd1142270a12b2d719e0d05f8240"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4aedbd1142270a12b2d719e0d05f8240">&#9670;&nbsp;</a></span>PREPROCESS_DEPTH()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.PREPROCESS_DEPTH </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Todo: Not done yet. Still in development.
+</pre> 
+</div>
+</div>
+<a id="a61709d75601089a00afe3187785ea6e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61709d75601089a00afe3187785ea6e5">&#9670;&nbsp;</a></span>PREPROCESS_RGB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.PREPROCESS_RGB </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8f7450eba4afc02e018b58553d9dc863"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8f7450eba4afc02e018b58553d9dc863">&#9670;&nbsp;</a></span>terminate_process_and_children()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.terminate_process_and_children </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1layers.html b/docs/namespaceSurveillance_1_1layers.html
new file mode 100644
index 00000000..3608a554
--- /dev/null
+++ b/docs/namespaceSurveillance_1_1layers.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+
+@brief              The base class for the layer segmentor in the 
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+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
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+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
+
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.layers.base_fg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html">Params</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment"> ============================== base ===============================
+
+@brief              The base class for the foreground layer segmentor in the 
+                    layered perception approach
+
+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
+
+ ============================== base ===============================
+</pre> </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> 1.8.13
+</small></address>
+</body>
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new file mode 100644
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+<title>IVALab Python Libraries: Surveillance.layers.human_seg Namespace 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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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html">human_seg</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.layers.human_seg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Params.html">Params</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+<tr class="separator:a12b7384fe091361b9e4d62c4521148ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">process_det_mask = lambda mask:maskproc.getLargestCC(<a class="el" href="classimprocessor_1_1mask_1_1mask.html">mask</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+</a> 1.8.13
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+<title>IVALab Python Libraries: Surveillance.layers.puzzle_seg Namespace 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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+</table>
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+$(function() {
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
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+<div class="title">Surveillance.layers.puzzle_seg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== puzzle_seg ===================================
+
+    @brief          The puzzle segmenters that aims to extract the puzzle layer
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           09/21/2021
+
+===================================== puzzle_seg ===================================
+</pre> </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> 1.8.13
+</small></address>
+</body>
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<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: Surveillance.layers.robot_seg Namespace Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
+</div>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1robot__seg.html">robot_seg</a></li>  </ul>
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+</div><!--header-->
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== robot_seg ===================================
+
+@brief          The robot segmenters that aims to obtain the robot layer mask
+                and state
+
+@author         Yiye Chen.          yychen2019@gatech.edu
+@date           07/30/2021
+
+===================================== robot_seg ===================================
+</pre> </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> 1.8.13
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Surveillance.layers.scene Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div class="title">Surveillance.layers.scene Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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+<tr class="memitem:a4011aa257f29f70823186ef39b47c444"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html#a4011aa257f29f70823186ef39b47c444">depth_to_before_scale</a> (depth, scale, dtype)</td></tr>
+<tr class="separator:a4011aa257f29f70823186ef39b47c444"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment"> ============================== scene ===============================
+
+    @brief              The scene interpreter for the puzzle playing task
+            
+    The scene interpreter will split the scene into three four layers:
+1. Background (tabletop) layer
+2. Human layer
+3. Robot arm layer
+4. Puzzle piece layer
+    The first three relys on their own segmenter, and the puzzle piece layer
+    is assumed to be the residual.
+
+    The interpreter will provide the following additional functions:
+    1. Bird-eye-view rectification
+            
+    
+    @author:    Yiye Chen       yychen2019@gatech.edu
+    @date:      09/16/2021
+
+ ============================== scene ===============================
+</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a4011aa257f29f70823186ef39b47c444"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4011aa257f29f70823186ef39b47c444">&#9670;&nbsp;</a></span>depth_to_before_scale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.layers.scene.depth_to_before_scale </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scale</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dtype</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
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+<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> 1.8.13
+</small></address>
+</body>
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+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1tabletop__seg.html">tabletop_seg</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.layers.tabletop_seg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html">tabletop_GMM</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== tabletop_seg ===================================
+
+    @brief          The tabletop segmenters that aims to extract the tabletop layer
+            as the background
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           09/21/2021
+
+===================================== tabletop_seg ===================================
+</pre> </div></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<a href="#func-members">Functions</a> &#124;
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief          The image/plotting-related utility functions
+
+@author:        Yiye Chen,          yychen2019@gatech.edu
+@date:          04/20/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="acb0a799ba7208c422470a8c080fbb15d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb0a799ba7208c422470a8c080fbb15d">&#9670;&nbsp;</a></span>draw_contour()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.utils.imgs.draw_contour </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em> = <code>(0,&#160;255,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thick</em> = <code>3</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw all the countours of a binary image
+
+Args:
+    bm (array, (H, W)):         The binary map
+    img (array, (H, W, 3)):     The RGB image to plot the contour.
+                                If None, then will plot on the binary mask
+    color ((3, )):              The RGB color of the contour
+    thick (int):                The thickness of the contour in pixel
+Returns:
+    im (array, (H, W, 3)):      An RGB image containing the contour
+</pre> 
+</div>
+</div>
+<a id="a9275cf234ab0a90824b1e57ffcb6879c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9275cf234ab0a90824b1e57ffcb6879c">&#9670;&nbsp;</a></span>draw_dots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.utils.imgs.draw_dots </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em> = <code>[0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em> = <code>20</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw a set of dots on the image 
+
+Args:
+    img (array): The image to draw the coordinates. Currently only accept rgb input
+    coords (N, 2): The coordinates of the dots in the OpenCV style
+    color (3,): The rgb color of the dots
+    radius (int): The radius of the dots
+Returns:
+    img_plot (array): The image with the dots plotted
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a27771afa9ae0a4bd477c9a5f2e8f5b7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27771afa9ae0a4bd477c9a5f2e8f5b7e">&#9670;&nbsp;</a></span>bm</h2>
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+<div class="textblock"><pre class="fragment">========================================== region_grow =================================
+
+    @brief              Contains the classes for the region grow algorithm
+
+    @author             Yiye Chen.              yychen2019@gatech.edu
+    @date               07/22/2021 [created]
+
+========================================== region_grow =================================
+</pre> </div></div><!-- contents -->
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+  @author:        Yiye Chen
+  @date:          11/15/2021</pre> </div></div><!-- contents -->
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
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+        name="MSearchResults" id="MSearchResults">
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">histogram Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_a.html b/docs/namespacemembers_a.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_a.html
@@ -0,0 +1,99 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>agglomerativeclustering_id_2d()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a8801432fbf836f30347f340eda9960a4">puzzle.utils.dataProcessing</a>
+</li>
+<li>apply()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#ac22ecc74cb6258b9e397c327df22e3a0">improcessor.basic</a>
+</li>
+<li>args
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a8187411843a6284ffb964ef3fb9fcab3">improcessor.basic</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.vid_playback</a>
+, <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>
+</li>
+<li>author
+: <a class="el" href="namespacesetup.html#ad50afb6ec7b2501164b80a0480596ded">setup</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_b.html b/docs/namespacemembers_b.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_b.html
@@ -0,0 +1,133 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_b"></a>- b -</h3><ul>
+<li>bag
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a91cf416c947b10c19071657221dc83d5">scripts.vid_playback</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a91cf416c947b10c19071657221dc83d5">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>bag_load
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a58d3768f784805a0a09dafc8db6971a6">scripts.vid_compress_bag</a>
+</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>
+<li>bb_intersection_over_union()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1shapeProcessing.html#ab7eebd751735c2b5e837885acd76da37">puzzle.utils.shapeProcessing</a>
+</li>
+<li>before_scale
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a3b3864e4aa627374980909112249a442">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>BEV_rectify_aruco()
+: <a class="el" href="namespacecamera_1_1utils_1_1utils.html#a627f6b3842f80fde34e5f698d27c67a2">camera.utils.utils</a>
+</li>
+<li>BGPARMAS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">Surveillance.deployment.default_params</a>
+</li>
+<li>bgr()
+: <a class="el" href="group__Display__CV.html#gaeafc1655d1352d992351a4a4fb8c41c4">ivapy.display_cv</a>
+</li>
+<li>bgr_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a639e3a22b39be33ee1b1aa6fe3fb5ae6">camera.utils.display</a>
+</li>
+<li>binary()
+: <a class="el" href="group__Display__CV.html#ga5231a7f2d52ecf895f8fc6a7b864e328">ivapy.display_cv</a>
+</li>
+<li>binary_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a5bb007167c8ff574d18c37f80b37544c">camera.utils.display</a>
+</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>
+<li>bMeasImage_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a02e7d17d5250f77f6debeb79c2c8bc13">puzzle.runnerROS</a>
+</li>
+<li>bridge
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#afaeaf0eae0e58cfdcfaba37d6008d6d4">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#afaeaf0eae0e58cfdcfaba37d6008d6d4">scripts.vid_playback</a>
+</li>
+<li>bTrackImage_SolID_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a694ef9e6386f219fb5eb6e789a96c52c">puzzle.runnerROS</a>
+</li>
+<li>bTrackImage_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a11420045ed13f23167357d8cd21022da">puzzle.runnerROS</a>
+</li>
+<li>buildTesterGS()
+: <a class="el" href="namespaceperceiver_1_1builders.html#ae462660dcff4f82f7de566df24ac742b">perceiver.builders</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_c.html b/docs/namespacemembers_c.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_c.html
@@ -0,0 +1,188 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_c"></a>- c -</h3><ul>
+<li>calc_closest_factors()
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#ac6453e425b5829431c8124ef63eee2e4">Surveillance.deployment.utils</a>
+</li>
+<li>calculateMatches()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a254c50137b6f842f52818db48523b8f8">puzzle.utils.dataProcessing</a>
+</li>
+<li>calibrate_real_puzzle()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5ff1d4c0b0e09f47ea74b98304472776">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>calibrate_real_puzzle_sequence()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a75110bf5d43fe007ebeba45171338097">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>call_back_id
+: <a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">puzzle.runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae38f754ee124747e5a6691e1ae03e1b2">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>cap
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a9499a5c7f196d66c6afe0222bd5a9219">scripts.vid_compress</a>
+</li>
+<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>
+<li>CfgCentMulti()
+: <a class="el" href="namespacepuzzle_1_1defaults.html#a746f8f534630ac5f0932366925d4ec23">puzzle.defaults</a>
+</li>
+<li>checkKey()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a616d1848a41cc1fbc752c7c9a128fd32">puzzle.utils.dataProcessing</a>
+</li>
+<li>close()
+: <a class="el" href="group__Display__CV.html#gac41a8ffe38e7266cbe1627824060ccf5">ivapy.display_cv</a>
+</li>
+<li>close_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ae009691b6e998af9cae3ac99d3276e57">camera.utils.display</a>
+</li>
+<li>closestNumber()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a6a4605d928b550c1595e4a8a2881edb5">puzzle.utils.dataProcessing</a>
+</li>
+<li>cluster_lines()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ac9d2f1c16bdbed87c557a38146c3c1b4">puzzle.utils.sideExtractor</a>
+</li>
+<li>color
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a37dbdc30935031c05304482e1be89d8f">camera.utils.display</a>
+</li>
+<li>color_type
+: <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>
+<li>compute_barycentre()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a88d3d66b7dda422cd40bdaa8fbd7bfeb">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_inout()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acd17c531cce4f73cea2b5140fc4a89c1">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_intersections()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a63dad9c3d424813c64545cbdb3d347d7">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_line_params()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0fe005d0c4ad27f3b4fceb382b93540c">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_mean_line()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a4e3dc70404fbeb3d8fb0c1237637c3e0">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_minmax_xy()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a73c48377360fe5e0524879b2bfe64fd2">puzzle.utils.sideExtractor</a>
+</li>
+<li>config
+: <a class="el" href="namespacebyMotion.html#ad2256458892609d0533df5d72a7257ad">byMotion</a>
+</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#a4f193b7825bfcf67f2d792d923b26350">Surveillance.utils.imgs</a>
+</li>
+<li>contour_map_2
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#abeb6741e9b4950f712e5b0341f970301">Surveillance.utils.imgs</a>
+</li>
+<li>convert_dict2ROS()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ab4cefda3f65200e7152e7e2f082d85a1">puzzle.utils.dataProcessing</a>
+</li>
+<li>convert_ROS2dict()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ae15966cf871d356543c605253b498adf">puzzle.utils.dataProcessing</a>
+</li>
+<li>convert_serializable()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aa868470ee9bc06221b852b660a0471d3">puzzle.utils.dataProcessing</a>
+</li>
+<li>corner_detection()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a08989457d5c61e3c3d7a5abf7385ef45">puzzle.utils.sideExtractor</a>
+</li>
+<li>count
+: <a class="el" href="namespacescripts_1_1vid__compress.html#ad43c3812e6d13e0518d9f8b8f463ffcf">scripts.vid_compress</a>
+</li>
+<li>cpath
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">puzzle.utils.puzzleProcessing</a>
+, <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">puzzle.utils.simProcessing</a>
+</li>
+<li>create_side_images()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad467af7c711c59369678b4fb5f9ad5e3">puzzle.utils.sideExtractor</a>
+</li>
+<li>create_side_images_simple()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a705678dba95bdf5555cf795992f645c6">puzzle.utils.sideExtractor</a>
+</li>
+<li>create_synthetic_puzzle()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a8b685959d3b63c2a7fd9ebd0c989ed79">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>cropImage()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#abc17991b315d81be2b6e2605497a1ce6">puzzle.utils.imageProcessing</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_d.html b/docs/namespacemembers_d.html
new file mode 100644
index 00000000..13b10f55
--- /dev/null
+++ b/docs/namespacemembers_d.html
@@ -0,0 +1,183 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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
+: <a class="el" href="namespacescripts_1_1d435__record.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__user.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record_rosbag_user</a>
+</li>
+<li>d435_starter
+: <a class="el" href="namespacescripts_1_1d435__record.html#ab10a2b2196dd477c36c656baa79b3887">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#ab10a2b2196dd477c36c656baa79b3887">scripts.d435_record_rosbag_dev</a>
+</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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#affb1327b18bf08a379d19eef89cf1ed1">scripts.vid_playback</a>
+</li>
+<li>default_path
+: <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>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#aa309581da47912d13c5672e63c854439">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>depth()
+: <a class="el" href="group__Display__CV.html#ga5f32097dd6970628fb251585d9ad3dcc">ivapy.display_cv</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a40fbe8949b277afd0fac64228851b12a">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a40fbe8949b277afd0fac64228851b12a">scripts.vid_playback</a>
+</li>
+<li>depth_clip
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a075488ae0f6c8cdc22c1e53c639bc5dc">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a075488ae0f6c8cdc22c1e53c639bc5dc">scripts.vid_playback</a>
+</li>
+<li>depth_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa5454a0c20f348c7b91be657f4acca5a">camera.utils.display</a>
+</li>
+<li>depth_scale
+: <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>
+<li>display_rgb_dep_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa758fa9101c2487c90dc36c2cde52878">camera.utils.display</a>
+</li>
+<li>display_rgb_dep_plt()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ade219e1b3fe3040c7f281403ab83a4e3">camera.utils.display</a>
+</li>
+<li>distance_point_line_signed()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a5811646d653ef4485924999c8f973e98">puzzle.utils.sideExtractor</a>
+</li>
+<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#a9275cf234ab0a90824b1e57ffcb6879c">Surveillance.utils.imgs</a>
+</li>
+<li>draw_lines()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a72aa7368a5925f2948af7b1b1d438c39">puzzle.utils.sideExtractor</a>
+</li>
+<li>dtype
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acfe99d230e216901bd782cc580e4e815">Surveillance.utils.imgs</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_e.html b/docs/namespacemembers_e.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_e"></a>- e -</h3><ul>
+<li>extract_region()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a0bd53163c13ea4dab4cefe4810f83f2d">puzzle.utils.imageProcessing</a>
+</li>
+<li>extras_require
+: <a class="el" href="namespacesetup.html#a87e252e9065f460e9aef5218a999f5d3">setup</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_f.html b/docs/namespacemembers_f.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_f.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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>
+<li>fpath
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">puzzle.utils.puzzleProcessing</a>
+, <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">puzzle.utils.simProcessing</a>
+</li>
+<li>fps
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a681bb2c58cd55763494a71a1935b6de4">scripts.vid_compress</a>
+</li>
+<li>fps_new
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a90240e235452a63186eb6c72a3beda7e">scripts.vid_compress</a>
+</li>
+<li>frame
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a943f49763dd36e31fc7ea8604fcad789">scripts.vid_compress</a>
+</li>
+<li>frame_num
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a83c68d366e7065c5ac414866f006fd28">scripts.vid_playback</a>
+</li>
+<li>frame_skip_rate
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a216a903c445685fe8b11baf3ec9603f7">scripts.vid_compress</a>
+</li>
+<li>frame_time_interval
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a9496a3558ad1b2cf422dad370f8805aa">scripts.vid_playback</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_func.html b/docs/namespacemembers_func.html
index b31e1555..64d70059 100644
--- a/docs/namespacemembers_func.html
+++ b/docs/namespacemembers_func.html
@@ -70,6 +70,9 @@ <h3><a id="index__"></a>- _ -</h3><ul>
 
 
 <h3><a id="index_a"></a>- a -</h3><ul>
+<li>agglomerativeclustering_id_2d()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a8801432fbf836f30347f340eda9960a4">puzzle.utils.dataProcessing</a>
+</li>
 <li>apply()
 : <a class="el" href="namespaceimprocessor_1_1basic.html#ac22ecc74cb6258b9e397c327df22e3a0">improcessor.basic</a>
 </li>
@@ -153,6 +156,15 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 <li>compute_minmax_xy()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a73c48377360fe5e0524879b2bfe64fd2">puzzle.utils.sideExtractor</a>
 </li>
+<li>convert_dict2ROS()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ab4cefda3f65200e7152e7e2f082d85a1">puzzle.utils.dataProcessing</a>
+</li>
+<li>convert_ROS2dict()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ae15966cf871d356543c605253b498adf">puzzle.utils.dataProcessing</a>
+</li>
+<li>convert_serializable()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aa868470ee9bc06221b852b660a0471d3">puzzle.utils.dataProcessing</a>
+</li>
 <li>corner_detection()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a08989457d5c61e3c3d7a5abf7385ef45">puzzle.utils.sideExtractor</a>
 </li>
@@ -300,6 +312,13 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 </ul>
 
 
+<h3><a id="index_k"></a>- k -</h3><ul>
+<li>kmeans_id_2d()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a425965f6d0e54bad8b2e8e59b5339a4d">puzzle.utils.dataProcessing</a>
+</li>
+</ul>
+
+
 <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>
@@ -342,6 +361,9 @@ <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>
 <li>plot_side_images()
 : <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad6424303731ab448dd3172cb0d9fde7b">puzzle.utils.sideExtractor</a>
 </li>
diff --git a/docs/namespacemembers_g.html b/docs/namespacemembers_g.html
new file mode 100644
index 00000000..1db7a246
--- /dev/null
+++ b/docs/namespacemembers_g.html
@@ -0,0 +1,113 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>get_corners()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad9d6de353521340b53ce7c30f3eb133a">puzzle.utils.sideExtractor</a>
+</li>
+<li>get_default_params()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0e5ac3eea6b957c2be464d33cc61ce51">puzzle.utils.sideExtractor</a>
+</li>
+<li>get_line_through_points()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a1322b07de271dab7ff20941642aef932">puzzle.utils.sideExtractor</a>
+</li>
+<li>getline_rgb()
+: <a class="el" href="group__Display__CV.html#ga436d5b1be836d386c82eef8fa7c3c51a">ivapy.display_cv</a>
+</li>
+<li>getlinemask_rgb()
+: <a class="el" href="group__Display__CV.html#gac2af97b0fbfec86c0378ce9b0ee653a8">ivapy.display_cv</a>
+</li>
+<li>getpts_rgb()
+: <a class="el" href="group__Display__CV.html#ga9a25f6d7c1f4969ff2773faf1b423dc9">ivapy.display_cv</a>
+</li>
+<li>getState()
+: <a class="el" href="namespacebyMotion.html#afc3fbbaaf36a17db2fe167563e7dfac9">byMotion</a>
+</li>
+<li>gray()
+: <a class="el" href="group__Display__CV.html#ga140b4fd354d352073aa12aae5b954eeb">ivapy.display_cv</a>
+</li>
+<li>gray_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#af18c076aef7cbe31c0d7642ae16f7520">camera.utils.display</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_h.html b/docs/namespacemembers_h.html
new file mode 100644
index 00000000..28da17f7
--- /dev/null
+++ b/docs/namespacemembers_h.html
@@ -0,0 +1,95 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_h"></a>- h -</h3><ul>
+<li>H
+: <a class="el" href="namespacescripts_1_1d435__record.html#affa487e8e3cc48473cfc05c0ce0165e9">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#afaafc315b95987fc2b071bcd8f698b81">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>height
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a509290c21d570ff479c1b9d9b1fe8810">scripts.vid_compress</a>
+</li>
+<li>help
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a81ae9faedaa69e3e28e2960a0548df8d">scripts.d435_record_rosbag_dev</a>
+, <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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_i.html b/docs/namespacemembers_i.html
new file mode 100644
index 00000000..20f871e5
--- /dev/null
+++ b/docs/namespacemembers_i.html
@@ -0,0 +1,107 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_i"></a>- i -</h3><ul>
+<li>ignore_undef
+: <a class="el" href="namespaceimprocessor_1_1basic.html#aad33857b6c8e9dd13da587983e9f334c">improcessor.basic</a>
+</li>
+<li>images()
+: <a class="el" href="group__Display__CV.html#gab2c53d9dd055d32ee86b65600c3b7b87">ivapy.display_cv</a>
+</li>
+<li>images_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa5f47da10dbbb88e9955eaa1cae900bd">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#a879d6a5d270ed33da479f60ed1cf1bd9">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>
+<li>instruction
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a8d53f52811787ac7b91d1fd31f23c5e3">camera.utils.display</a>
+</li>
+<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 -->
+<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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_k.html b/docs/namespacemembers_k.html
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+++ b/docs/namespacemembers_k.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+<div id="main-nav"></div>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_l.html b/docs/namespacemembers_l.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>load_path_default
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a5039b5ee970316620f5ba2931226a145">scripts.vid_compress_bag</a>
+</li>
+<li>loc_history_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a01913ba61bc9ee5347932a4040ae4a8f">puzzle.runnerROS</a>
+</li>
+<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>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_m.html b/docs/namespacemembers_m.html
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--- /dev/null
+++ b/docs/namespacemembers_m.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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>
+<li>methods
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a33d390b3d71a902ec9fbcd5d2d237619">improcessor.basic</a>
+</li>
+<li>mtype
+: <a class="el" href="namespaceimprocessor_1_1basic.html#ab0a098437ac93d5508372ec9a8d89963">improcessor.basic</a>
+</li>
+<li>multiLineSurface()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1pygameProcessing.html#a67325b4acf946f1dc212b30bf40d74d8">puzzle.utils.pygameProcessing</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_n.html b/docs/namespacemembers_n.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_n"></a>- n -</h3><ul>
+<li>name
+: <a class="el" href="namespacesetup.html#ab74e6bf80237ddc4109968cedc58c151">setup</a>
+</li>
+<li>nargs
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a87f35ac6fa80d957c59e394549aa7e15">scripts.vid_compress_bag</a>
+</li>
+<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>
+<li>numfuncs
+: <a class="el" href="namespaceimprocessor_1_1basic.html#aa096bfc0fa959ab8f1979bd9dc3f9f33">improcessor.basic</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_o"></a>- o -</h3><ul>
+<li>opKey
+: <a class="el" href="namespacescripts_1_1d435__record.html#af28ca61b776544cf6c894131e2d034c9">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#af28ca61b776544cf6c894131e2d034c9">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#af28ca61b776544cf6c894131e2d034c9">scripts.vid_playback</a>
+</li>
+<li>order_corners()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#abbaf5d39b5bf185147639105218e13ef">puzzle.utils.sideExtractor</a>
+</li>
+<li>out
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a2a89187d8e8e8fba509ef9ab5f815d88">scripts.vid_compress</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a90eee7a4677ca8b1ed116364a24367f9">scripts.vid_playback</a>
+</li>
+<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>
+<li>plot_side_images()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad6424303731ab448dd3172cb0d9fde7b">puzzle.utils.sideExtractor</a>
+</li>
+<li>polyline_rgb()
+: <a class="el" href="group__Display__CV.html#ga121e3c117f98006e1b0056ae7930ca24">ivapy.display_cv</a>
+</li>
+<li>post()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a678f954d58114ee8220ee51cb9f2d606">improcessor.basic</a>
+</li>
+<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#a19dc54485f63927598701468a9ae2bc8">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>
+</li>
+<li>puzzleSolver
+: <a class="el" href="namespacepuzzle_1_1runner.html#a0fdbcfb901e4e785cc37ae9f7920c0c9">puzzle.runner</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_r.html b/docs/namespacemembers_r.html
new file mode 100644
index 00000000..9e7c9ca7
--- /dev/null
+++ b/docs/namespacemembers_r.html
@@ -0,0 +1,151 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_r"></a>- r -</h3><ul>
+<li>radius
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acc620a89e606f875661525fd6365a421">Surveillance.utils.imgs</a>
+</li>
+<li>ratio
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a33e97a0953b4f4a9f1b61cd9556e2350">camera.utils.display</a>
+, <a class="el" href="namespacescripts_1_1d435__record.html#a33e97a0953b4f4a9f1b61cd9556e2350">scripts.d435_record</a>
+, <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>
+<li>rgb()
+: <a class="el" href="group__Display__CV.html#gaa3326c793b2a917ff7e29266576a6503">ivapy.display_cv</a>
+, <a class="el" href="namespacescripts_1_1d435__record.html#ac9352d49e6b05c3bef53620f0556714b">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#ac9352d49e6b05c3bef53620f0556714b">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#ac9352d49e6b05c3bef53620f0556714b">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#ac9352d49e6b05c3bef53620f0556714b">scripts.vid_playback</a>
+</li>
+<li>rgb_binary()
+: <a class="el" href="group__Display__CV.html#ga0f24748d3bebc9de14c2b0c1f3b550b6">ivapy.display_cv</a>
+</li>
+<li>rgb_binary_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#abd42fbc396fcd33589f126ebc119db5d">camera.utils.display</a>
+</li>
+<li>rgb_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a5d8ec2104c10f4ceb0016a4253f11163">camera.utils.display</a>
+</li>
+<li>rgb_depth()
+: <a class="el" href="group__Display__CV.html#ga1d2f0c1803d3bbb0ad9735b4636ca73f">ivapy.display_cv</a>
+</li>
+<li>rgb_depth_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a2edb58b146a9a1189a188ee9e822f9b6">camera.utils.display</a>
+</li>
+<li>rgbd_wait_for_confirm()
+: <a class="el" href="group__Display__CV.html#gac76d10a87da5e0324ef54782e4eb5d42">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>rs_extrin_to_M()
+: <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#af427ba37c0002b9852a39b44e0dae889">camera.utils.rs_utils</a>
+</li>
+<li>rs_intrin_to_M()
+: <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#a78938d1d1820fc5d782b880618ff2101">camera.utils.rs_utils</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_s.html b/docs/namespacemembers_s.html
new file mode 100644
index 00000000..099f8458
--- /dev/null
+++ b/docs/namespacemembers_s.html
@@ -0,0 +1,140 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a5b17a751399fad52e839be60093f8bad">scripts.vid_playback</a>
+</li>
+<li>saveTo()
+: <a class="el" href="namespacebyMotion.html#ae0edcd016ea976d8d29034d4a289b2c8">byMotion</a>
+</li>
+<li>SCORE_DIFFERENCE
+: <a class="el" href="namespacepuzzle_1_1board.html#a0cf23740b08ad1c16f8a276af9e8d24c">puzzle.board</a>
+, <a class="el" href="namespacepuzzle_1_1manager.html#a0cf23740b08ad1c16f8a276af9e8d24c">puzzle.manager</a>
+</li>
+<li>SCORE_SIMILAR
+: <a class="el" href="namespacepuzzle_1_1board.html#af5b4005e04dcf65d72ac694d6aa11988">puzzle.board</a>
+, <a class="el" href="namespacepuzzle_1_1manager.html#af5b4005e04dcf65d72ac694d6aa11988">puzzle.manager</a>
+</li>
+<li>set()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#aac3cfdf3987e4660ea436ecff8d4b58f">improcessor.basic</a>
+</li>
+<li>setHand()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#aca0241f3a80de0f33b10a0cb9be84619">puzzle.utils.simProcessing</a>
+</li>
+<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#a3a93a3b3c10f942c32a5b092033cce8a">puzzle.utils.sideExtractor</a>
+</li>
+<li>size_new
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a6f4ecda27f1c7a9be4b2a6e6137c47ca">scripts.vid_compress</a>
+</li>
+<li>size_ratio
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a9bfc2357bc33f126b0b498525d91d42d">scripts.vid_compress</a>
+</li>
+<li>squareInImage()
+: <a class="el" href="group__ivapy__testing.html#ga71460e9e11b6965da8d61f775b75bee6">vision</a>
+</li>
+<li>status_history_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a7aaabd3cd088a51def0c00dfc1938a80">puzzle.runnerROS</a>
+</li>
+<li>status_pulse_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#aa25e738e4787e0e0d1cb84b173fa6ff5">puzzle.runnerROS</a>
+</li>
+<li>str
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a4b99ff73a8a869319570237b5c57ab03">scripts.vid_compress_bag</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>
+</li>
+<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 -->
+<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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_t.html b/docs/namespacemembers_t.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_t"></a>- t -</h3><ul>
+<li>t
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#aaccc9105df5383111407fd5b41255e23">scripts.vid_compress_bag</a>
+</li>
+<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>thick
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a30c50d7eb3887c672f6fb620874b023b">Surveillance.utils.imgs</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
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a3332d321c6c5000fc58ad3da7168ada4">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>tipFromBottom()
+: <a class="el" href="namespacetrackpointer_1_1toplines.html#ab1462a82f4f393fe7a48e350708104fe">trackpointer.toplines</a>
+</li>
+<li>total_time
+: <a class="el" href="namespacescripts_1_1vid__playback.html#ae4ca52b9abe06f0013a84e7b33cf30ff">scripts.vid_playback</a>
+</li>
+<li>trackpoint()
+: <a class="el" href="group__Display__CV.html#gad25109e7e19441ef6673afd6ebb72307">ivapy.display_cv</a>
+</li>
+<li>trackpoint_binary()
+: <a class="el" href="group__Display__CV.html#ga9b94cc68db6779dffe9f30dbefaba3f3">ivapy.display_cv</a>
+</li>
+<li>trackpoint_binary_cv()
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+</li>
+<li>trackpoint_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aeb168f74829f2697757f61493d2d2d33">camera.utils.display</a>
+</li>
+<li>trackpoint_gray()
+: <a class="el" href="group__Display__CV.html#ga5b4f1ffa2e2bba19cf0a3bebde01b8f7">ivapy.display_cv</a>
+</li>
+<li>trackpoint_gray_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ad3c45375ed6d95bd3d4cf04a291d5a98">camera.utils.display</a>
+</li>
+<li>trackpoints()
+: <a class="el" href="group__Display__CV.html#gaeb85be44dae0b5fcf0b46d59ba35b5c4">ivapy.display_cv</a>
+</li>
+<li>trackpoints_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#afc701baf505557648b3030178e313c10">camera.utils.display</a>
+</li>
+<li>type
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a7aead736a07eaf25623ad7bfa1f0ee2d">scripts.d435_record_rosbag_dev</a>
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+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_u"></a>- u -</h3><ul>
+<li>updateLabel()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a4a9ae29f124c6905359869849aaa8878">puzzle.utils.dataProcessing</a>
+</li>
+<li>url
+: <a class="el" href="namespacesetup.html#afcd5a3e84f2adb7f83fa6c99911f31e4">setup</a>
+</li>
+</ul>
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+<hr class="footer"/><address class="footer"><small>
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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+</body>
+</html>
diff --git a/docs/namespacemembers_v.html b/docs/namespacemembers_v.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_v"></a>- v -</h3><ul>
+<li>verbose
+: <a class="el" href="namespacepuzzle_1_1runner.html#ab3f078684998b83967d507d0f453f454">puzzle.runner</a>
+</li>
+<li>version
+: <a class="el" href="namespacesetup.html#a4c7a521b8f1a0769c09bfa4a1fca7dab">setup</a>
+</li>
+<li>vid_compress_file
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a56368663639561d5d6fc3baaa483efb0">scripts.vid_compress</a>
+</li>
+<li>vid_compress_name
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a64780965c08aa29b2472e0a317b4aac2">scripts.vid_compress</a>
+</li>
+<li>vid_file
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a32e6f8cfd91c10f46185ccfcc54c7a40">scripts.vid_compress</a>
+</li>
+<li>vid_name
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a3f08cd2fd652c8c178d6b8d69d0f01d5">scripts.vid_compress</a>
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+<li>vid_path
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a207668774f8bf54cd204eac1f32805d7">Surveillance.deployment.ROS.rosbag_to_avi</a>
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+<li>vid_writer
+: <a class="el" href="namespacescripts_1_1d435__record.html#a499053276493510196d75d84e0ac45e6">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a499053276493510196d75d84e0ac45e6">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a499053276493510196d75d84e0ac45e6">scripts.vid_compress_bag</a>
+</li>
+<li>vidname
+: <a class="el" href="namespacescripts_1_1d435__record.html#a8a687db3ff7e073b5eea8391f222b4c1">scripts.d435_record</a>
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+</li>
+<li>visibleMask
+: <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">puzzle.runner</a>
+</li>
+</ul>
+</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> 1.8.13
+</small></address>
+</body>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
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+<div class="contents">
+&#160;
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+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a58d3768f784805a0a09dafc8db6971a6">scripts.vid_compress_bag</a>
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+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a098b3e2b76b290dc086dbf368e3f4be5">Surveillance.deployment.ROS.rosbag_data_recorder</a>
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+<li>baseSurveillance
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a8bd610c078f94eeebf8e3e23fcdb559c">Surveillance.deployment.Base</a>
+</li>
+<li>before_scale
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a3b3864e4aa627374980909112249a442">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>BGPARMAS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">Surveillance.deployment.default_params</a>
+</li>
+<li>blit
+: <a class="el" href="namespaceSurveillance_1_1activity_1_1utils.html#af7d6946511cca2c663a2474b8cb473dd">Surveillance.activity.utils</a>
+</li>
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+</li>
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+</li>
+<li>bridge
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#afaeaf0eae0e58cfdcfaba37d6008d6d4">scripts.vid_compress_bag</a>
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+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a694ef9e6386f219fb5eb6e789a96c52c">puzzle.runnerROS</a>
+</li>
+<li>bTrackImage_topic
+: <a class="el" href="namespacepuzzle_1_1runnerROS.html#a11420045ed13f23167357d8cd21022da">puzzle.runnerROS</a>
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+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+</li>
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+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1Base.html#a3a4acb4d58f4ad4702285291a94a58c6">Surveillance.deployment.Base</a>
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+<li>count
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+</li>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aded81a3c6732dc56fd0cf4b6c286b83e">puzzle.utils.dataProcessing</a>
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+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4f0dca78b998ba41b1799a11f1287c87">Surveillance.deployment.ROS.rosbag_runner</a>
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+<li>doNothing_func
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+<li>dot_coords
+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a6f08e8858cca0ac965b32519400179b3">Surveillance.utils.imgs</a>
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+: <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acfe99d230e216901bd782cc580e4e815">Surveillance.utils.imgs</a>
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+</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>
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+<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>
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+</li>
+</ul>
+</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"/>
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+<title>IVALab Python Libraries: Package Functions</title>
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+<li>save_file_path
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+, <a class="el" href="namespacepuzzle_1_1manager.html#a0cf23740b08ad1c16f8a276af9e8d24c">puzzle.manager</a>
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+, <a class="el" href="namespacepuzzle_1_1manager.html#af5b4005e04dcf65d72ac694d6aa11988">puzzle.manager</a>
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+<li>size_new
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+<li>status_pulse_topic
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+<li>suptitle
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ab5fd5a95b1d082124c8718ec9f9c99fc">camera.utils.display</a>
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+<li>survelliance_system
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+<li>target_folder
+: <a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">puzzle.runner</a>
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+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
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+          <td class="memname">def puzzle.defaults.CfgCentMulti </td>
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+
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+</a> 1.8.13
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+<tr class="separator:a0cf23740b08ad1c16f8a276af9e8d24c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">int SCORE_DIFFERENCE = 0</td>
+        </tr>
+      </table>
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+
+</div>
+</div>
+<a id="af5b4005e04dcf65d72ac694d6aa11988"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af5b4005e04dcf65d72ac694d6aa11988">&#9670;&nbsp;</a></span>SCORE_SIMILAR</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">int SCORE_SIMILAR = 1</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1runner.html">runner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.runner Namespace Reference</div>  </div>
+</div><!--header-->
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+<tr class="memitem:a8ebfaf3fbfcf45ab336e700a52a9b122"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a> = int(os.path.basename(npy_file)[:4])</td></tr>
+<tr class="separator:a8ebfaf3fbfcf45ab336e700a52a9b122"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2775c0e672f9bfc7753972393d23a74d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d68c7f95c8b5042071ab5e9fd595c40"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a> = np.load(f, allow_pickle=True)</td></tr>
+<tr class="separator:a4d68c7f95c8b5042071ab5e9fd595c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acbe5fb8b5aa9022008b27cee1fe4aa90"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#acbe5fb8b5aa9022008b27cee1fe4aa90">npy_file_list</a> = glob.glob(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, '*.npy'))</td></tr>
+<tr class="separator:acbe5fb8b5aa9022008b27cee1fe4aa90"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ae1e167b26485ee9a975bf4fb78bc469c">plan</a> = puzzleSolver.process(<a class="el" href="namespacepuzzle_1_1runner.html#ad2352536c7ea489734a52c27723d8871">postImg</a>, <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a>, <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a>)</td></tr>
+<tr class="separator:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad2352536c7ea489734a52c27723d8871"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad55d6aa3b1e1bebdd8331f117c8b1f85"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ad55d6aa3b1e1bebdd8331f117c8b1f85">puzzle_solver_mode</a> = 2</td></tr>
+<tr class="separator:ad55d6aa3b1e1bebdd8331f117c8b1f85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef9247963b338f3536c923017ee83d36"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#aef9247963b338f3536c923017ee83d36">puzzle_solver_SolBoard</a> = '../../Surveillance/Surveillance/deployment/ROS/caliSolBoard.obj'</td></tr>
+<tr class="separator:aef9247963b338f3536c923017ee83d36"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0fdbcfb901e4e785cc37ae9f7920c0c9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a0fdbcfb901e4e785cc37ae9f7920c0c9">puzzleSolver</a> = <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a>(<a class="el" href="namespacepuzzle_1_1runner.html#a2775c0e672f9bfc7753972393d23a74d">configs_puzzleSolver</a>)</td></tr>
+<tr class="separator:a0fdbcfb901e4e785cc37ae9f7920c0c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a174f5a65fd1cfc7848a2af3018a99fcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6016e9125171356854e2a9fd66878c03"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a6016e9125171356854e2a9fd66878c03">thePercent</a> = puzzleSolver.progress(USE_MEASURED=False)</td></tr>
+<tr class="separator:a6016e9125171356854e2a9fd66878c03"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3f078684998b83967d507d0f453f454"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ab3f078684998b83967d507d0f453f454">verbose</a> = False</td></tr>
+<tr class="separator:ab3f078684998b83967d507d0f453f454"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9d3a341b9ed09dc0bb6fa843a344659"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a> = cv2.imread(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, f'{str(<a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a>).zfill(4)}_visibleMask.png'), -1)</td></tr>
+<tr class="separator:ac9d3a341b9ed09dc0bb6fa843a344659"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a8ebfaf3fbfcf45ab336e700a52a9b122"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ebfaf3fbfcf45ab336e700a52a9b122">&#9670;&nbsp;</a></span>call_back_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">call_back_id = int(os.path.basename(npy_file)[:4])</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2775c0e672f9bfc7753972393d23a74d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2775c0e672f9bfc7753972393d23a74d">&#9670;&nbsp;</a></span>configs_puzzleSolver</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">configs_puzzleSolver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  ParamRunner(</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        areaThresholdLower=1000,</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        areaThresholdUpper=8000,</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;        pieceConstructor=Template,</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;        lengthThresholdLower=1000,</div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;        BoudingboxThresh=(20, 100),</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;        tauDist=100,  <span class="comment"># @&lt; The radius distance determining if one piece is at the right position.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;        hand_radius=200,  <span class="comment"># @&lt; The radius distance to the hand center determining the near-by pieces.</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;        tracking_life_thresh=15  <span class="comment"># @&lt; Tracking life for the pieces, it should be set according to the processing speed.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    )</div></div><!-- fragment -->
+</div>
+</div>
+<a id="a4d68c7f95c8b5042071ab5e9fd595c40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d68c7f95c8b5042071ab5e9fd595c40">&#9670;&nbsp;</a></span>hTracker_BEV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hTracker_BEV = np.load(f, allow_pickle=True)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acbe5fb8b5aa9022008b27cee1fe4aa90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acbe5fb8b5aa9022008b27cee1fe4aa90">&#9670;&nbsp;</a></span>npy_file_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">npy_file_list = glob.glob(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, '*.npy'))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae1e167b26485ee9a975bf4fb78bc469c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1e167b26485ee9a975bf4fb78bc469c">&#9670;&nbsp;</a></span>plan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">plan = puzzleSolver.process(<a class="el" href="namespacepuzzle_1_1runner.html#ad2352536c7ea489734a52c27723d8871">postImg</a>, <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a>, <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad2352536c7ea489734a52c27723d8871"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2352536c7ea489734a52c27723d8871">&#9670;&nbsp;</a></span>postImg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">postImg = cv2.imread(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, f'{str(<a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a>).zfill(4)}_puzzle.png'))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad55d6aa3b1e1bebdd8331f117c8b1f85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad55d6aa3b1e1bebdd8331f117c8b1f85">&#9670;&nbsp;</a></span>puzzle_solver_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int puzzle_solver_mode = 2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aef9247963b338f3536c923017ee83d36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef9247963b338f3536c923017ee83d36">&#9670;&nbsp;</a></span>puzzle_solver_SolBoard</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string puzzle_solver_SolBoard = '../../Surveillance/Surveillance/deployment/ROS/caliSolBoard.obj'</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0fdbcfb901e4e785cc37ae9f7920c0c9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fdbcfb901e4e785cc37ae9f7920c0c9">&#9670;&nbsp;</a></span>puzzleSolver</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzleSolver = <a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a>(<a class="el" href="namespacepuzzle_1_1runner.html#a2775c0e672f9bfc7753972393d23a74d">configs_puzzleSolver</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a174f5a65fd1cfc7848a2af3018a99fcb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a174f5a65fd1cfc7848a2af3018a99fcb">&#9670;&nbsp;</a></span>target_folder</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string target_folder = '../../Surveillance/Surveillance/deployment/ROS/tangled_1_work'</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6016e9125171356854e2a9fd66878c03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6016e9125171356854e2a9fd66878c03">&#9670;&nbsp;</a></span>thePercent</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">thePercent = puzzleSolver.progress(USE_MEASURED=False)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab3f078684998b83967d507d0f453f454"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3f078684998b83967d507d0f453f454">&#9670;&nbsp;</a></span>verbose</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">bool verbose = False</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac9d3a341b9ed09dc0bb6fa843a344659"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9d3a341b9ed09dc0bb6fa843a344659">&#9670;&nbsp;</a></span>visibleMask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">visibleMask = cv2.imread(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, f'{str(<a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a>).zfill(4)}_visibleMask.png'), -1)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
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diff --git a/docs/namespacepuzzle_1_1runnerROS.html b/docs/namespacepuzzle_1_1runnerROS.html
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.dataProcessing Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html">copyAttributes</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a8801432fbf836f30347f340eda9960a4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a8801432fbf836f30347f340eda9960a4">agglomerativeclustering_id_2d</a> (<a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aded81a3c6732dc56fd0cf4b6c286b83e">dict_id_2d</a>, cluster_num)</td></tr>
+<tr class="separator:a8801432fbf836f30347f340eda9960a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a254c50137b6f842f52818db48523b8f8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a254c50137b6f842f52818db48523b8f8">calculateMatches</a> (des1, des2, ratio_threshold=0.7)</td></tr>
+<tr class="memdesc:a254c50137b6f842f52818db48523b8f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the matches based on KNN.  <a href="#a254c50137b6f842f52818db48523b8f8">More...</a><br /></td></tr>
+<tr class="separator:a254c50137b6f842f52818db48523b8f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a616d1848a41cc1fbc752c7c9a128fd32"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a616d1848a41cc1fbc752c7c9a128fd32">checkKey</a> (dict1, dict2, value)</td></tr>
+<tr class="separator:a616d1848a41cc1fbc752c7c9a128fd32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a4605d928b550c1595e4a8a2881edb5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a6a4605d928b550c1595e4a8a2881edb5">closestNumber</a> (num, basis=50, lower=True)</td></tr>
+<tr class="separator:a6a4605d928b550c1595e4a8a2881edb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4cefda3f65200e7152e7e2f082d85a1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ab4cefda3f65200e7152e7e2f082d85a1">convert_dict2ROS</a> (info_dict)</td></tr>
+<tr class="separator:ab4cefda3f65200e7152e7e2f082d85a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae15966cf871d356543c605253b498adf"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#ae15966cf871d356543c605253b498adf">convert_ROS2dict</a> (message)</td></tr>
+<tr class="separator:ae15966cf871d356543c605253b498adf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa868470ee9bc06221b852b660a0471d3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aa868470ee9bc06221b852b660a0471d3">convert_serializable</a> (input)</td></tr>
+<tr class="separator:aa868470ee9bc06221b852b660a0471d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a425965f6d0e54bad8b2e8e59b5339a4d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a425965f6d0e54bad8b2e8e59b5339a4d">kmeans_id_2d</a> (<a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aded81a3c6732dc56fd0cf4b6c286b83e">dict_id_2d</a>, kmeans_num)</td></tr>
+<tr class="separator:a425965f6d0e54bad8b2e8e59b5339a4d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d1fa9dc52af3b5a85881b4f3748a52f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a5d1fa9dc52af3b5a85881b4f3748a52f">partition_even</a> (data_list, partition_num, order=&quot;ascend&quot;)</td></tr>
+<tr class="separator:a5d1fa9dc52af3b5a85881b4f3748a52f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4a9ae29f124c6905359869849aaa8878"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a4a9ae29f124c6905359869849aaa8878">updateLabel</a> (x_list, x_label)</td></tr>
+<tr class="memdesc:a4a9ae29f124c6905359869849aaa8878"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the label according to the ranking of all the elements' (with the same label) mean value.  <a href="#a4a9ae29f124c6905359869849aaa8878">More...</a><br /></td></tr>
+<tr class="separator:a4a9ae29f124c6905359869849aaa8878"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:aded81a3c6732dc56fd0cf4b6c286b83e"><td class="memItemLeft" align="right" valign="top">dictionary&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#aded81a3c6732dc56fd0cf4b6c286b83e">dict_id_2d</a> = {0: [0, 0], 1: [1, 1], 2: [0.4, 0.4], 3: [3, 3], 4: [4, 4], 5: [5, 5], 6: [0.6, 0.6], 7: [7, 7], 8: [8, 8], 9: [0.9, 0.9]}</td></tr>
+<tr class="separator:aded81a3c6732dc56fd0cf4b6c286b83e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a8801432fbf836f30347f340eda9960a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8801432fbf836f30347f340eda9960a4">&#9670;&nbsp;</a></span>agglomerativeclustering_id_2d()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.agglomerativeclustering_id_2d </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict_id_2d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cluster_num</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Agglomerative clustering for a dict of id: 2D data.
+
+Args:
+    dict_id_2d: The dictionary of id: 2D data.
+
+Returns:
+    dict_id_label: The updated dictionary of 2D data.
+</pre> 
+</div>
+</div>
+<a id="a254c50137b6f842f52818db48523b8f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a254c50137b6f842f52818db48523b8f8">&#9670;&nbsp;</a></span>calculateMatches()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.calculateMatches </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>des1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>des2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio_threshold</em> = <code>0.7</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Calculate the matches based on KNN. </p>
+<p>For premise behind this approach, see <a href="https://github.com/adumrewal/SIFTImageSimilarity/blob/master/SIFTSimilarityInteractive.ipynb">https://github.com/adumrewal/SIFTImageSimilarity/blob/master/SIFTSimilarityInteractive.ipynb</a></p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">des1</td><td>First descriptor. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">des2</td><td>Second descriptor.</td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">topResults</td><td>Final matches. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a616d1848a41cc1fbc752c7c9a128fd32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a616d1848a41cc1fbc752c7c9a128fd32">&#9670;&nbsp;</a></span>checkKey()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.checkKey </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the key &amp; value pairs between two dicts given a query value.
+
+Args:
+    dict1: Query dict 1.
+    dict2:  Query dict 2.
+    value:  Query value.
+
+Returns:
+    Whether the keys found are the same.
+</pre> 
+</div>
+</div>
+<a id="a6a4605d928b550c1595e4a8a2881edb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a4605d928b550c1595e4a8a2881edb5">&#9670;&nbsp;</a></span>closestNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.closestNumber </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>basis</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lower</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the closest number to the basis target for the input number.
+e.g., 580 with 50 -&gt; 550
+
+Args:
+    num: The input number.
+    basis: The basis target number.
+    lower: The direction.
+
+Returns:
+    The integer of the closest number.</pre> 
+</div>
+</div>
+<a id="ab4cefda3f65200e7152e7e2f082d85a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4cefda3f65200e7152e7e2f082d85a1">&#9670;&nbsp;</a></span>convert_dict2ROS()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.convert_dict2ROS </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>info_dict</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the dict to ROS string. See https://github.com/uos/rospy_message_converter
+
+Args:
+    info_dict: the input dict.
+
+Returns:
+    json_str: the ROS string.
+</pre> 
+</div>
+</div>
+<a id="ae15966cf871d356543c605253b498adf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae15966cf871d356543c605253b498adf">&#9670;&nbsp;</a></span>convert_ROS2dict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.convert_ROS2dict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>message</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the ROS string to dict.
+
+Args:
+    message: the input ROS string.
+
+Returns:
+    info_dict: the obtained dict.
+</pre> 
+</div>
+</div>
+<a id="aa868470ee9bc06221b852b660a0471d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa868470ee9bc06221b852b660a0471d3">&#9670;&nbsp;</a></span>convert_serializable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.convert_serializable </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the object to a serializable object.
+
+Args:
+    input: the input object.
+
+Returns:
+    The serializable object.
+</pre> 
+</div>
+</div>
+<a id="a425965f6d0e54bad8b2e8e59b5339a4d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a425965f6d0e54bad8b2e8e59b5339a4d">&#9670;&nbsp;</a></span>kmeans_id_2d()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.kmeans_id_2d </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict_id_2d</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>kmeans_num</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Kmeans clustering for a dict of id: 2D data.
+
+Args:
+    dict_id_2d: The dictionary of id: 2D data.
+    kmeans_num: The number of clusters.
+
+Returns:
+    dict_id_label: The updated dictionary of 2D data.
+</pre> 
+</div>
+</div>
+<a id="a5d1fa9dc52af3b5a85881b4f3748a52f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d1fa9dc52af3b5a85881b4f3748a52f">&#9670;&nbsp;</a></span>partition_even()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.partition_even </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>data_list</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>partition_num</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>order</em> = <code>&quot;ascend&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Partition a list of numbers evenly into a number of sets based on their values
+e.g. data = [4, 11, 14, 3, 32, 35], partition_number = 3, order=ascend.
+result: labels = [0, 1, 1, 0, 2, 2]
+
+Args:
+    data_list ((N, )):              The list of data
+    partition_num (int):            The partition numebr
+    order (str):                    ascend or descend. THe partition is based on increase order or decrease order
+                                    (i.e. The numbers in the first set is the lowest or the highest)
+Returns:
+    labels ((N, 1)):                                                The partition label
+    part_results ((partition_num, N/partition_num)):                The partition results
+</pre> 
+</div>
+</div>
+<a id="a4a9ae29f124c6905359869849aaa8878"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a9ae29f124c6905359869849aaa8878">&#9670;&nbsp;</a></span>updateLabel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.updateLabel </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>x_list</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>x_label</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update the label according to the ranking of all the elements' (with the same label) mean value. </p>
+<p>E.g., x_list = [28,137,263,269,33,151] / x_label = [2,3,1,1,2,3] -&gt; x_label_updated = [0,1,2,2,0,1]</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">x_list</td><td>Value list. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">x_label</td><td>Original label.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">x_label_updated</td><td>The updated label. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="aded81a3c6732dc56fd0cf4b6c286b83e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aded81a3c6732dc56fd0cf4b6c286b83e">&#9670;&nbsp;</a></span>dict_id_2d</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">dictionary dict_id_2d = {0: [0, 0], 1: [1, 1], 2: [0.4, 0.4], 3: [3, 3], 4: [4, 4], 5: [5, 5], 6: [0.6, 0.6], 7: [7, 7], 8: [8, 8], 9: [0.9, 0.9]}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1imageProcessing.html b/docs/namespacepuzzle_1_1utils_1_1imageProcessing.html
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+<meta name="generator" content="Doxygen 1.8.13"/>
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+<title>IVALab Python Libraries: puzzle.utils.imageProcessing Namespace Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html">imageProcessing</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">puzzle.utils.imageProcessing 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:abc17991b315d81be2b6e2605497a1ce6"><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#abc17991b315d81be2b6e2605497a1ce6">cropImage</a> (image, template)</td></tr>
+<tr class="separator:abc17991b315d81be2b6e2605497a1ce6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0bd53163c13ea4dab4cefe4810f83f2d"><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#a0bd53163c13ea4dab4cefe4810f83f2d">extract_region</a> (img, verbose=False)</td></tr>
+<tr class="separator:a0bd53163c13ea4dab4cefe4810f83f2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4226003f3aa87494cc657c6039c628d4"><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#a4226003f3aa87494cc657c6039c628d4">find_nonzero_mask</a> (mask)</td></tr>
+<tr class="separator:a4226003f3aa87494cc657c6039c628d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19dc54485f63927598701468a9ae2bc8"><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#a19dc54485f63927598701468a9ae2bc8">preprocess_real_puzzle</a> (img, mask=None, areaThresholdLower=1000, areaThresholdUpper=8000, BoudingboxThresh=(30, 80), cannyThresh=(30, 50), WITH_AREA_THRESH=False, verbose=True)</td></tr>
+<tr class="memdesc:a19dc54485f63927598701468a9ae2bc8"><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="#a19dc54485f63927598701468a9ae2bc8">More...</a><br /></td></tr>
+<tr class="separator:a19dc54485f63927598701468a9ae2bc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9564a000752268a38828146005b80283"><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#a9564a000752268a38828146005b80283">preprocess_synthetic_puzzle</a> (img, mask=None, areaThresholdLower=1000, areaThresholdUpper=8000, cannyThresh=(20, 80), verbose=False)</td></tr>
+<tr class="separator:a9564a000752268a38828146005b80283"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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="separator:a350b60c8d8dd4ab76e00479c86c0a539"><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>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="abc17991b315d81be2b6e2605497a1ce6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc17991b315d81be2b6e2605497a1ce6">&#9670;&nbsp;</a></span>cropImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.cropImage </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>template</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </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.
+
+Returns:
+    The resized image.
+</pre> 
+</div>
+</div>
+<a id="a0bd53163c13ea4dab4cefe4810f83f2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bd53163c13ea4dab4cefe4810f83f2d">&#9670;&nbsp;</a></span>extract_region()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.extract_region </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Extract the regions from user's self-defined template image.
+
+Args:
+    img: The input image.
+    verbose: The flag of whether to debug.
+
+Returns:
+    regions: The mask region list.
+</pre> 
+</div>
+</div>
+<a id="a4226003f3aa87494cc657c6039c628d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4226003f3aa87494cc657c6039c628d4">&#9670;&nbsp;</a></span>find_nonzero_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.find_nonzero_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em></td><td>)</td>
+          <td></td>
+        </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
+
+Returns:
+    rcoords: The coordinates of the non-zero elements (x,y style)
+</pre> 
+</div>
+</div>
+<a id="a19dc54485f63927598701468a9ae2bc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19dc54485f63927598701468a9ae2bc8">&#9670;&nbsp;</a></span>preprocess_real_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.preprocess_real_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdLower</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdUpper</em> = <code>8000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BoudingboxThresh</em> = <code>(30,80)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cannyThresh</em> = <code>(30,&#160;50)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>WITH_AREA_THRESH</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+<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>Lower threshold for area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">areaThresholdUpper</td><td>Upper threshold for area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">BoudingboxThresh</td><td>Size threshold of the bounding box area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cannyThresh</td><td>Threshold for canny. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">WITH_AREA_THRESH</td><td>Mainly for previous codes which have not set the BoudingboxThresh properly. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">verbose</td><td>Debug verbosity lag.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>seg_img_combined The mask region list. </dd></dl>
+
+</div>
+</div>
+<a id="a9564a000752268a38828146005b80283"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9564a000752268a38828146005b80283">&#9670;&nbsp;</a></span>preprocess_synthetic_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.preprocess_synthetic_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdLower</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdUpper</em> = <code>8000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cannyThresh</em> = <code>(20,&#160;80)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </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.
+
+Returns:
+    seg_img_combined: The mask region list.
+</pre> 
+</div>
+</div>
+<a id="a350b60c8d8dd4ab76e00479c86c0a539"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a350b60c8d8dd4ab76e00479c86c0a539">&#9670;&nbsp;</a></span>rotate_im()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.rotate_im </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">
+<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.
+
+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>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c7458be2427dc2089cec4aefd752c23">&#9670;&nbsp;</a></span>white_balance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.white_balance </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Change the white balance of the image.
+
+Args:
+    img: Input image.
+
+Returns:
+    result: The processed image with white balance.
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1puzzleProcessing.html b/docs/namespacepuzzle_1_1utils_1_1puzzleProcessing.html
new file mode 100644
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--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: puzzle.utils.puzzleProcessing Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html">puzzleProcessing</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.puzzleProcessing 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:a5ff1d4c0b0e09f47ea74b98304472776"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5ff1d4c0b0e09f47ea74b98304472776">calibrate_real_puzzle</a> (theImageMea, thePrevImage=None, theCalibrated=None, params=ParamPuzzle, option=1, verbose=False)</td></tr>
+<tr class="separator:a5ff1d4c0b0e09f47ea74b98304472776"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75110bf5d43fe007ebeba45171338097"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a75110bf5d43fe007ebeba45171338097">calibrate_real_puzzle_sequence</a> (img_folder, option, fsize=1, verbose=False)</td></tr>
+<tr class="separator:a75110bf5d43fe007ebeba45171338097"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b685959d3b63c2a7fd9ebd0c989ed79"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a8b685959d3b63c2a7fd9ebd0c989ed79">create_synthetic_puzzle</a> (theImageSol, theMaskSol_src, explodeDis=(200, 200), moveDis=(2000, 100), rotateRange=70, ROTATION_ENABLED=True, verbose=False)</td></tr>
+<tr class="separator:a8b685959d3b63c2a7fd9ebd0c989ed79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">cpath</a> = fpath.rsplit('/', 1)[0]</td></tr>
+<tr class="separator:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">fpath</a> = os.path.realpath(__file__)</td></tr>
+<tr class="separator:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a5ff1d4c0b0e09f47ea74b98304472776"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ff1d4c0b0e09f47ea74b98304472776">&#9670;&nbsp;</a></span>calibrate_real_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.calibrate_real_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePrevImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theCalibrated</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em> = <code>ParamPuzzle</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board or the pieces in the solution area.
+
+Args:
+    theImageMea: The input image.
+    thePrevImage: The pre-saved image of last frame.
+    theCalibrated: Load a pre-saved board, otherwise create an empty one.
+    params: Parameter settings to extract the pieces.
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle
+    verbose: Whether to debug
+
+Returns:
+    thePrevImage: The updated previous image.
+    theCalibrated: A board of calibrated pieces.
+</pre> 
+</div>
+</div>
+<a id="a75110bf5d43fe007ebeba45171338097"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75110bf5d43fe007ebeba45171338097">&#9670;&nbsp;</a></span>calibrate_real_puzzle_sequence()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.calibrate_real_puzzle_sequence </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_folder</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fsize</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board from an image sequence for calibration.
+
+Args:
+    img_folder: The path to the image folder. We assume the image name like XX_0.png
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle
+    fsize: The scale to resize the input image.
+    verbose: Whether to debug
+
+Returns:
+    theCalibrated: A board of calibrated pieces
+</pre> 
+</div>
+</div>
+<a id="a8b685959d3b63c2a7fd9ebd0c989ed79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b685959d3b63c2a7fd9ebd0c989ed79">&#9670;&nbsp;</a></span>create_synthetic_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.create_synthetic_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMaskSol_src</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>explodeDis</em> = <code>(200,200)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>moveDis</em> = <code>(2000,100)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rotateRange</em> = <code>70</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ROTATION_ENABLED</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief create a synthetic/exploded/rotated measured board &amp; solution board from a foreground image &amp; background image.
+
+Args:
+    theImageSol: The source RGB image.
+    theMaskSol_src: The source template image.
+    explodeDis: The exploded distance setting, (xx,yy).
+    moveDis: The moved distance setting, (xx,yy).
+    rotateRange: The range of the rotation.
+    ROTATION_ENABLED: The flag signifying rotation option.
+    verbose: The flag signifying debug or not.
+
+Returns:
+    theGridMea: The measured board.
+    theGridSol: The solution board.
+    gt_pAssignments: The ground truth assignments.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a88e1dbf20e9778b4c5a1d7417361fb89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88e1dbf20e9778b4c5a1d7417361fb89">&#9670;&nbsp;</a></span>cpath</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cpath = fpath.rsplit('/', 1)[0]</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f36266c8fc5784d82b4a09335e2fc20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f36266c8fc5784d82b4a09335e2fc20">&#9670;&nbsp;</a></span>fpath</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">fpath = os.path.realpath(__file__)</td>
+        </tr>
+      </table>
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+
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+</div>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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diff --git a/docs/namespacepuzzle_1_1utils_1_1pygameProcessing.html b/docs/namespacepuzzle_1_1utils_1_1pygameProcessing.html
new file mode 100644
index 00000000..b256c74f
--- /dev/null
+++ b/docs/namespacepuzzle_1_1utils_1_1pygameProcessing.html
@@ -0,0 +1,111 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>IVALab Python Libraries: puzzle.utils.pygameProcessing Namespace Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
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+<!-- end header part -->
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1pygameProcessing.html">pygameProcessing</a></li>  </ul>
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+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html">TextRectException</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+        <tr>
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+Args:
+    boxA: A list representing a bounding box.
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+
+Returns:
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+</pre> 
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+<tr class="separator:a8979ba1d83427575ad94e4e1350c61b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a93a3b3c10f942c32a5b092033cce8a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a3a93a3b3c10f942c32a5b092033cce8a">sideExtractor</a> (puzzleTemplate, kwargs)</td></tr>
+<tr class="memdesc:a3a93a3b3c10f942c32a5b092033cce8a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unsure what does.  <a href="#a3a93a3b3c10f942c32a5b092033cce8a">More...</a><br /></td></tr>
+<tr class="separator:a3a93a3b3c10f942c32a5b092033cce8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ac9d2f1c16bdbed87c557a38146c3c1b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9d2f1c16bdbed87c557a38146c3c1b4">&#9670;&nbsp;</a></span>cluster_lines()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.cluster_lines </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88d3d66b7dda422cd40bdaa8fbd7bfeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88d3d66b7dda422cd40bdaa8fbd7bfeb">&#9670;&nbsp;</a></span>compute_barycentre()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_barycentre </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thresh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>value</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the segmented puzzle piece, compute its barycentre.
+</pre> 
+</div>
+</div>
+<a id="acd17c531cce4f73cea2b5140fc4a89c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd17c531cce4f73cea2b5140fc4a89c1">&#9670;&nbsp;</a></span>compute_inout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_inout </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_params</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>10</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the full class image, the line parameters and the coordinates of the barycenter,
+compute for each side if the curve of the piece goes inside (in) or outside (out).
+This is done by computing the mean coordinates for each class and see if the signed distance
+from the corners' line has the same sign of the signed distance of the barycenter. If that
+true, the two points lie on the same side and we have a in; otherwise we have a out.
+To let the points of the curve to contribute more to the mean point calculation, only the
+signed distances that are greater than a threshold are used.
+</pre> 
+</div>
+</div>
+<a id="a63dad9c3d424813c64545cbdb3d347d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63dad9c3d424813c64545cbdb3d347d7">&#9670;&nbsp;</a></span>compute_intersections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_intersections </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mean_lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0fe005d0c4ad27f3b4fceb382b93540c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fe005d0c4ad27f3b4fceb382b93540c">&#9670;&nbsp;</a></span>compute_line_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_line_params </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e3dc70404fbeb3d8fb0c1237637c3e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e3dc70404fbeb3d8fb0c1237637c3e0">&#9670;&nbsp;</a></span>compute_mean_line()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_mean_line </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>debug</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a73c48377360fe5e0524879b2bfe64fd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73c48377360fe5e0524879b2bfe64fd2">&#9670;&nbsp;</a></span>compute_minmax_xy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_minmax_xy </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thresh</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the thresholded image, compute the minimum and maximum x and y
+coordinates of the segmented puzzle piece.
+</pre> 
+</div>
+</div>
+<a id="a08989457d5c61e3c3d7a5abf7385ef45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08989457d5c61e3c3d7a5abf7385ef45">&#9670;&nbsp;</a></span>corner_detection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.corner_detection </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>edges</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intersections</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rect_size</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>show</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad467af7c711c59369678b4fb5f9ad5e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad467af7c711c59369678b4fb5f9ad5e3">&#9670;&nbsp;</a></span>create_side_images()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.create_side_images </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a705678dba95bdf5555cf795992f645c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a705678dba95bdf5555cf795992f645c6">&#9670;&nbsp;</a></span>create_side_images_simple()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.create_side_images_simple </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5811646d653ef4485924999c8f973e98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5811646d653ef4485924999c8f973e98">&#9670;&nbsp;</a></span>distance_point_line_signed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.distance_point_line_signed </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_param</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Computes the signed distance of a 2D point (x0, y0) from a line ax + by + c = 0
+</pre> 
+</div>
+</div>
+<a id="a0efae7d4ab4464b04cde77c964fe9eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0efae7d4ab4464b04cde77c964fe9eea">&#9670;&nbsp;</a></span>distance_point_line_squared()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.distance_point_line_squared </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_param</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Computes the squared distance of a 2D point (x0, y0) from a line ax + by + c = 0
+</pre> 
+</div>
+</div>
+<a id="a72aa7368a5925f2948af7b1b1d438c39"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72aa7368a5925f2948af7b1b1d438c39">&#9670;&nbsp;</a></span>draw_lines()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.draw_lines </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>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a348352837eeedcb27f195eed638f6bce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a348352837eeedcb27f195eed638f6bce">&#9670;&nbsp;</a></span>get_best_fitting_rect_coords()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_best_fitting_rect_coords </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>xy</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>30</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perp_angle_thresh</em> = <code>20</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Since we expect the 4 puzzle corners to be the corners of a rectangle, here we take
+all detected Harris corners and we find the best corresponding rectangle.
+We perform a recursive search with max depth = 2:
+- At depth 0 we take one of the input point as the first corner of the rectangle
+- At depth 1 we select another input point (with distance from the first point greater
+than d_threshold) as the second point
+- At depth 2 and 3 we take the other points. However, the lines 01-12 and 12-23 should be
+as perpendicular as possible. If the angle formed by these lines is too much far from the
+right angle, we discard the choice.
+- At depth 3, if a valid candidate (4 points that form an almost perpendicular rectangle) is found,
+we add it to the list of candidates.
+
+Given a list of candidate rectangles, we then select the best one by taking the candidate that maximizes
+the function: area * Gaussian(rectangularness)
+- area: it is the area of the candidate shape. We expect that the puzzle corners will form the maximum area
+- rectangularness: it is the mse of the candidate shape's angles compared to a 90 degree angles. The smaller
+        this value, the most the shape is similar toa rectangle.
+</pre> 
+</div>
+</div>
+<a id="ad9d6de353521340b53ce7c30f3eb133a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9d6de353521340b53ce7c30f3eb133a">&#9670;&nbsp;</a></span>get_corners()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_corners </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dst</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>neighborhood_size</em> = <code>5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>score_threshold</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>minmax_threshold</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given the input Harris image (where in each pixel the Harris function is
+        computed), extract discrete corners satisfying detection constraints.
+
+@param[in]  dst
+@param[in]  neighborhood_size
+@param[in]  score_threshold
+@param[in]  minmax_threshold
+
+@param[out] xy ??
+</pre> 
+</div>
+</div>
+<a id="a0e5ac3eea6b957c2be464d33cc61ce51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5ac3eea6b957c2be464d33cc61ce51">&#9670;&nbsp;</a></span>get_default_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_default_params </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1322b07de271dab7ff20941642aef932"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1322b07de271dab7ff20941642aef932">&#9670;&nbsp;</a></span>get_line_through_points()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_line_through_points </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p1</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given two points p0 (x0, y0) and p1 (x1, y1),
+compute the coefficients (a, b, c) of the line
+that passes through both points.
+</pre> 
+</div>
+</div>
+<a id="a1b63710387e2e9e67878305868979a76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1b63710387e2e9e67878305868979a76">&#9670;&nbsp;</a></span>line_intersection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.line_intersection </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line2</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abbaf5d39b5bf185147639105218e13ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbaf5d39b5bf185147639105218e13ef">&#9670;&nbsp;</a></span>order_corners()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.order_corners </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad6424303731ab448dd3172cb0d9fde7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6424303731ab448dd3172cb0d9fde7b">&#9670;&nbsp;</a></span>plot_side_images()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.plot_side_images </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>side_images</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac410e17f31d4fce91e19436682f13aa2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac410e17f31d4fce91e19436682f13aa2">&#9670;&nbsp;</a></span>prune_lines_by_voting()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.prune_lines_by_voting </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>angle_threshold</em> = <code>5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a169b27e309e92094b1d5249ff53acfd9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a169b27e309e92094b1d5249ff53acfd9">&#9670;&nbsp;</a></span>rotate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.rotate </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>degrees</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Rotate an image by the amount specified in degrees
+</pre> 
+</div>
+</div>
+<a id="a8979ba1d83427575ad94e4e1350c61b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8979ba1d83427575ad94e4e1350c61b9">&#9670;&nbsp;</a></span>shape_classification()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.shape_classification </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>edges</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_params</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>500</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>n_hs</em> = <code>10</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3a93a3b3c10f942c32a5b092033cce8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a93a3b3c10f942c32a5b092033cce8a">&#9670;&nbsp;</a></span>sideExtractor()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.sideExtractor </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzleTemplate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>kwargs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Unsure what does. </p>
+<p>No documentation. PAV - 2023/11/13.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">puzzleTemplate</td><td>Puzzle piece template instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">OTHERS.</td><td>WHO KNOWS. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1simProcessing.html b/docs/namespacepuzzle_1_1utils_1_1simProcessing.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: puzzle.utils.simProcessing Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html">simProcessing</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.simProcessing 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:aca0241f3a80de0f33b10a0cb9be84619"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#aca0241f3a80de0f33b10a0cb9be84619">setHand</a> (init_agent_loc, fsize=1)</td></tr>
+<tr class="separator:aca0241f3a80de0f33b10a0cb9be84619"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">cpath</a> = fpath.rsplit('/', 1)[0]</td></tr>
+<tr class="separator:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">fpath</a> = os.path.realpath(__file__)</td></tr>
+<tr class="separator:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="aca0241f3a80de0f33b10a0cb9be84619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca0241f3a80de0f33b10a0cb9be84619">&#9670;&nbsp;</a></span>setHand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.simProcessing.setHand </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_agent_loc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fsize</em> = <code>1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the hand appearance
+
+Args:
+    init_agent_loc: The initial location.
+    fsize: The scale of the hand image.
+
+Returns:
+    theHand: A hand instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a88e1dbf20e9778b4c5a1d7417361fb89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88e1dbf20e9778b4c5a1d7417361fb89">&#9670;&nbsp;</a></span>cpath</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cpath = fpath.rsplit('/', 1)[0]</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f36266c8fc5784d82b4a09335e2fc20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f36266c8fc5784d82b4a09335e2fc20">&#9670;&nbsp;</a></span>fpath</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">fpath = os.path.realpath(__file__)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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+</body>
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From 62caab25d98f4dbe07a8e431b0bf2aa5e16b643c Mon Sep 17 00:00:00 2001
From: "Patricio A. Vela" <pvela@gatech.edu>
Date: Wed, 9 Oct 2024 10:03:24 -0400
Subject: [PATCH 2/2] puzzle solve switch to master

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 ...ivity_1_1state_1_1Base__state-members.html |  108 ++
 ...e_1_1activity_1_1state_1_1Base__state.html |  542 +++++++
 ...y_1_1state_1_1Base__state__coll__graph.map |    5 +
 ...y_1_1state_1_1Base__state__coll__graph.md5 |    1 +
 ...y_1_1state_1_1Base__state__coll__graph.png |  Bin 0 -> 3865 bytes
 ..._1state_1_1Base__state__inherit__graph.map |    6 +
 ..._1state_1_1Base__state__inherit__graph.md5 |    1 +
 ..._1state_1_1Base__state__inherit__graph.png |  Bin 0 -> 5341 bytes
 ...ty_1_1state_1_1StateEstimator-members.html |  118 ++
 ..._1activity_1_1state_1_1StateEstimator.html |  538 +++++++
 ..._1state_1_1StateEstimator__coll__graph.map |    6 +
 ..._1state_1_1StateEstimator__coll__graph.md5 |    1 +
 ..._1state_1_1StateEstimator__coll__graph.png |  Bin 0 -> 4955 bytes
 ...tate_1_1StateEstimator__inherit__graph.map |    6 +
 ...tate_1_1StateEstimator__inherit__graph.md5 |    1 +
 ...tate_1_1StateEstimator__inherit__graph.png |  Bin 0 -> 4955 bytes
 ...ty_1_1utils_1_1DynamicDisplay-members.html |   94 ++
 ..._1activity_1_1utils_1_1DynamicDisplay.html |  292 ++++
 ...1utils_1_1ParamDynamicDisplay-members.html |   89 ++
 ...ivity_1_1utils_1_1ParamDynamicDisplay.html |  212 +++
 ...ase_1_1BaseSurveillanceDeploy-members.html |  127 ++
 ...ent_1_1Base_1_1BaseSurveillanceDeploy.html | 1098 +++++++++++++
 ...1deployment_1_1Base_1_1Params-members.html |   92 ++
 ...lance_1_1deployment_1_1Base_1_1Params.html |  311 ++++
 ...sbag__runner_1_1ImageListener-members.html |  104 ++
 ...OS_1_1rosbag__runner_1_1ImageListener.html |  464 ++++++
 ...ctivity__record_1_1ActDecoder-members.html |   91 ++
 ...ent_1_1activity__record_1_1ActDecoder.html |  244 +++
 ...1_1BlackWorkMat_1_1Calibrator-members.html |   93 ++
 ...1layers_1_1BlackWorkMat_1_1Calibrator.html |  401 +++++
 ...lackWorkMat_1_1Calibrator__coll__graph.map |    4 +
 ...lackWorkMat_1_1Calibrator__coll__graph.md5 |    1 +
 ...lackWorkMat_1_1Calibrator__coll__graph.png |  Bin 0 -> 3274 bytes
 ...kWorkMat_1_1Calibrator__inherit__graph.map |    4 +
 ...kWorkMat_1_1Calibrator__inherit__graph.md5 |    1 +
 ...kWorkMat_1_1Calibrator__inherit__graph.png |  Bin 0 -> 3274 bytes
 ..._1BlackWorkMat_1_1CfgDetector-members.html |   86 +
 ...layers_1_1BlackWorkMat_1_1CfgDetector.html |  194 +++
 ...ackWorkMat_1_1CfgDetector__coll__graph.map |    4 +
 ...ackWorkMat_1_1CfgDetector__coll__graph.md5 |    1 +
 ...ackWorkMat_1_1CfgDetector__coll__graph.png |  Bin 0 -> 3377 bytes
 ...WorkMat_1_1CfgDetector__inherit__graph.map |    4 +
 ...WorkMat_1_1CfgDetector__inherit__graph.md5 |    1 +
 ...WorkMat_1_1CfgDetector__inherit__graph.png |  Bin 0 -> 3377 bytes
 ...WorkMat_1_1CfgPuzzlePerceiver-members.html |   85 +
 ...1_1BlackWorkMat_1_1CfgPuzzlePerceiver.html |  161 ++
 ...Mat_1_1CfgPuzzlePerceiver__coll__graph.map |    4 +
 ...Mat_1_1CfgPuzzlePerceiver__coll__graph.md5 |    1 +
 ...Mat_1_1CfgPuzzlePerceiver__coll__graph.png |  Bin 0 -> 3434 bytes
 ..._1_1CfgPuzzlePerceiver__inherit__graph.map |    4 +
 ..._1_1CfgPuzzlePerceiver__inherit__graph.md5 |    1 +
 ..._1_1CfgPuzzlePerceiver__inherit__graph.png |  Bin 0 -> 3434 bytes
 ...s_1_1BlackWorkMat_1_1Detector-members.html |   97 ++
 ...1_1layers_1_1BlackWorkMat_1_1Detector.html |  530 +++++++
 ...1BlackWorkMat_1_1Detector__coll__graph.map |    4 +
 ...1BlackWorkMat_1_1Detector__coll__graph.md5 |    1 +
 ...1BlackWorkMat_1_1Detector__coll__graph.png |  Bin 0 -> 2270 bytes
 ...ackWorkMat_1_1Detector__inherit__graph.map |    4 +
 ...ackWorkMat_1_1Detector__inherit__graph.md5 |    1 +
 ...ackWorkMat_1_1Detector__inherit__graph.png |  Bin 0 -> 2270 bytes
 ..._1BlackWorkMat_1_1InstPuzzlePerceiver.html |   90 ++
 ...ackWorkMat_1_1PuzzlePerceiver-members.html |   93 ++
 ...rs_1_1BlackWorkMat_1_1PuzzlePerceiver.html |  388 +++++
 ...orkMat_1_1PuzzlePerceiver__coll__graph.map |    4 +
 ...orkMat_1_1PuzzlePerceiver__coll__graph.md5 |    1 +
 ...orkMat_1_1PuzzlePerceiver__coll__graph.png |  Bin 0 -> 2483 bytes
 ...Mat_1_1PuzzlePerceiver__inherit__graph.map |    4 +
 ...Mat_1_1PuzzlePerceiver__inherit__graph.md5 |    1 +
 ...Mat_1_1PuzzlePerceiver__inherit__graph.png |  Bin 0 -> 2483 bytes
 ...eByColor_1_1CalibGloveByColor-members.html |  114 ++
 ..._1_1GloveByColor_1_1CalibGloveByColor.html |  657 ++++++++
 ...olor_1_1CalibGloveByColor__coll__graph.map |    8 +
 ...olor_1_1CalibGloveByColor__coll__graph.md5 |    1 +
 ...olor_1_1CalibGloveByColor__coll__graph.png |  Bin 0 -> 10068 bytes
 ...r_1_1CalibGloveByColor__inherit__graph.map |    8 +
 ...r_1_1CalibGloveByColor__inherit__graph.md5 |    1 +
 ...r_1_1CalibGloveByColor__inherit__graph.png |  Bin 0 -> 10068 bytes
 ...veByColor_1_1CfgGloveDetector-members.html |   88 ++
 ...s_1_1GloveByColor_1_1CfgGloveDetector.html |  221 +++
 ...Color_1_1CfgGloveDetector__coll__graph.map |    5 +
 ...Color_1_1CfgGloveDetector__coll__graph.md5 |    1 +
 ...Color_1_1CfgGloveDetector__coll__graph.png |  Bin 0 -> 5673 bytes
 ...or_1_1CfgGloveDetector__inherit__graph.map |    5 +
 ...or_1_1CfgGloveDetector__inherit__graph.md5 |    1 +
 ...or_1_1CfgGloveDetector__inherit__graph.png |  Bin 0 -> 5673 bytes
 ...GloveByColor_1_1DetectorState-members.html |   85 +
 ...yers_1_1GloveByColor_1_1DetectorState.html |  116 ++
 ...1GloveByColor_1_1GloveByColor-members.html |  112 ++
 ...ayers_1_1GloveByColor_1_1GloveByColor.html |  804 ++++++++++
 ...veByColor_1_1GloveByColor__coll__graph.map |    7 +
 ...veByColor_1_1GloveByColor__coll__graph.md5 |    1 +
 ...veByColor_1_1GloveByColor__coll__graph.png |  Bin 0 -> 6029 bytes
 ...yColor_1_1GloveByColor__inherit__graph.map |    8 +
 ...yColor_1_1GloveByColor__inherit__graph.md5 |    1 +
 ...yColor_1_1GloveByColor__inherit__graph.png |  Bin 0 -> 10035 bytes
 ...1GloveByColor_1_1GlovePointer-members.html |   97 ++
 ...ayers_1_1GloveByColor_1_1GlovePointer.html |  489 ++++++
 ...veByColor_1_1GlovePointer__coll__graph.map |    4 +
 ...veByColor_1_1GlovePointer__coll__graph.md5 |    1 +
 ...veByColor_1_1GlovePointer__coll__graph.png |  Bin 0 -> 2733 bytes
 ...yColor_1_1GlovePointer__inherit__graph.map |    4 +
 ...yColor_1_1GlovePointer__inherit__graph.md5 |    1 +
 ...yColor_1_1GlovePointer__inherit__graph.png |  Bin 0 -> 2733 bytes
 ..._1_1GloveByColor_1_1InstGloveDetector.html |   89 ++
 ...1_1GloveByColor_1_1InstGlovePerceiver.html |   89 ++
 ...oveByColor_1_1PerceiveGloveBC-members.html |  100 ++
 ...rs_1_1GloveByColor_1_1PerceiveGloveBC.html |  483 ++++++
 ...yColor_1_1PerceiveGloveBC__coll__graph.map |    4 +
 ...yColor_1_1PerceiveGloveBC__coll__graph.md5 |    1 +
 ...yColor_1_1PerceiveGloveBC__coll__graph.png |  Bin 0 -> 2948 bytes
 ...lor_1_1PerceiveGloveBC__inherit__graph.map |    4 +
 ...lor_1_1PerceiveGloveBC__inherit__graph.md5 |    1 +
 ...lor_1_1PerceiveGloveBC__inherit__graph.png |  Bin 0 -> 2948 bytes
 ...layers_1_1Glove_1_1Calibrator-members.html |  108 ++
 ...ance_1_1layers_1_1Glove_1_1Calibrator.html |  649 ++++++++
 ...rs_1_1Glove_1_1Calibrator__coll__graph.map |    5 +
 ...rs_1_1Glove_1_1Calibrator__coll__graph.md5 |    1 +
 ...rs_1_1Glove_1_1Calibrator__coll__graph.png |  Bin 0 -> 4810 bytes
 ...1_1Glove_1_1Calibrator__inherit__graph.map |    5 +
 ...1_1Glove_1_1Calibrator__inherit__graph.md5 |    1 +
 ...1_1Glove_1_1Calibrator__inherit__graph.png |  Bin 0 -> 4810 bytes
 ..._1_1Glove_1_1CfgGloveDetector-members.html |   88 ++
 ..._1layers_1_1Glove_1_1CfgGloveDetector.html |  221 +++
 ...Glove_1_1CfgGloveDetector__coll__graph.map |    5 +
 ...Glove_1_1CfgGloveDetector__coll__graph.md5 |    1 +
 ...Glove_1_1CfgGloveDetector__coll__graph.png |  Bin 0 -> 5673 bytes
 ...ve_1_1CfgGloveDetector__inherit__graph.map |    5 +
 ...ve_1_1CfgGloveDetector__inherit__graph.md5 |    1 +
 ...ve_1_1CfgGloveDetector__inherit__graph.png |  Bin 0 -> 5673 bytes
 ..._1layers_1_1Glove_1_1Detector-members.html |  106 ++
 ...llance_1_1layers_1_1Glove_1_1Detector.html |  744 +++++++++
 ...ers_1_1Glove_1_1DetectorState-members.html |   85 +
 ...e_1_1layers_1_1Glove_1_1DetectorState.html |  116 ++
 ...yers_1_1Glove_1_1Detector__coll__graph.map |    4 +
 ...yers_1_1Glove_1_1Detector__coll__graph.md5 |    1 +
 ...yers_1_1Glove_1_1Detector__coll__graph.png |  Bin 0 -> 3002 bytes
 ...s_1_1Glove_1_1Detector__inherit__graph.map |    5 +
 ...s_1_1Glove_1_1Detector__inherit__graph.md5 |    1 +
 ...s_1_1Glove_1_1Detector__inherit__graph.png |  Bin 0 -> 4793 bytes
 ...1layers_1_1Glove_1_1InstGloveDetector.html |   89 ++
 ...layers_1_1Glove_1_1InstGlovePerceiver.html |   89 ++
 ...1layers_1_1Glove_1_1Perceiver-members.html |   96 ++
 ...lance_1_1layers_1_1Glove_1_1Perceiver.html |  407 +++++
 ...ers_1_1Glove_1_1Perceiver__coll__graph.map |    3 +
 ...ers_1_1Glove_1_1Perceiver__coll__graph.md5 |    1 +
 ...ers_1_1Glove_1_1Perceiver__coll__graph.png |  Bin 0 -> 1615 bytes
 ..._1_1Glove_1_1Perceiver__inherit__graph.map |    3 +
 ..._1_1Glove_1_1Perceiver__inherit__graph.md5 |    1 +
 ..._1_1Glove_1_1Perceiver__inherit__graph.png |  Bin 0 -> 2095 bytes
 ...yers_1_1Glove_1_1TrackPointer-members.html |   97 ++
 ...ce_1_1layers_1_1Glove_1_1TrackPointer.html |  489 ++++++
 ..._1_1Glove_1_1TrackPointer__coll__graph.map |    4 +
 ..._1_1Glove_1_1TrackPointer__coll__graph.md5 |    1 +
 ..._1_1Glove_1_1TrackPointer__coll__graph.png |  Bin 0 -> 2787 bytes
 ...1Glove_1_1TrackPointer__inherit__graph.map |    4 +
 ...1Glove_1_1TrackPointer__inherit__graph.md5 |    1 +
 ...1Glove_1_1TrackPointer__inherit__graph.png |  Bin 0 -> 2787 bytes
 ..._1HoveringGlove_1_1Calibrator-members.html |  109 ++
 ...layers_1_1HoveringGlove_1_1Calibrator.html |  628 ++++++++
 ...veringGlove_1_1Calibrator__coll__graph.map |    5 +
 ...veringGlove_1_1Calibrator__coll__graph.md5 |    1 +
 ...veringGlove_1_1Calibrator__coll__graph.png |  Bin 0 -> 4810 bytes
 ...ingGlove_1_1Calibrator__inherit__graph.map |    5 +
 ...ingGlove_1_1Calibrator__inherit__graph.md5 |    1 +
 ...ingGlove_1_1Calibrator__inherit__graph.png |  Bin 0 -> 4810 bytes
 ...eringGlove_1_1CfgHandDetector-members.html |   87 +
 ...s_1_1HoveringGlove_1_1CfgHandDetector.html |  200 +++
 ...gGlove_1_1CfgHandDetector__coll__graph.map |    5 +
 ...gGlove_1_1CfgHandDetector__coll__graph.md5 |    1 +
 ...gGlove_1_1CfgHandDetector__coll__graph.png |  Bin 0 -> 5660 bytes
 ...ove_1_1CfgHandDetector__inherit__graph.map |    5 +
 ...ove_1_1CfgHandDetector__inherit__graph.md5 |    1 +
 ...ove_1_1CfgHandDetector__inherit__graph.png |  Bin 0 -> 5660 bytes
 ..._1_1HoveringGlove_1_1Detector-members.html |  106 ++
 ..._1layers_1_1HoveringGlove_1_1Detector.html |  747 +++++++++
 ...overingGlove_1_1DetectorState-members.html |   85 +
 ...ers_1_1HoveringGlove_1_1DetectorState.html |  116 ++
 ...HoveringGlove_1_1Detector__coll__graph.map |    4 +
 ...HoveringGlove_1_1Detector__coll__graph.md5 |    1 +
 ...HoveringGlove_1_1Detector__coll__graph.png |  Bin 0 -> 3002 bytes
 ...eringGlove_1_1Detector__inherit__graph.map |    5 +
 ...eringGlove_1_1Detector__inherit__graph.md5 |    1 +
 ...eringGlove_1_1Detector__inherit__graph.png |  Bin 0 -> 4793 bytes
 ...yers_1_1HoveringGlove_1_1InstDetector.html |   89 ++
 ...ers_1_1HoveringGlove_1_1InstPerceiver.html |   89 ++
 ...1_1HoveringGlove_1_1Perceiver-members.html |   96 ++
 ...1layers_1_1HoveringGlove_1_1Perceiver.html |  409 +++++
 ...overingGlove_1_1Perceiver__coll__graph.map |    4 +
 ...overingGlove_1_1Perceiver__coll__graph.md5 |    1 +
 ...overingGlove_1_1Perceiver__coll__graph.png |  Bin 0 -> 2172 bytes
 ...ringGlove_1_1Perceiver__inherit__graph.map |    4 +
 ...ringGlove_1_1Perceiver__inherit__graph.md5 |    1 +
 ...ringGlove_1_1Perceiver__inherit__graph.png |  Bin 0 -> 2172 bytes
 ...HoveringGlove_1_1TrackPointer-members.html |   97 ++
 ...yers_1_1HoveringGlove_1_1TrackPointer.html |  489 ++++++
 ...ringGlove_1_1TrackPointer__coll__graph.map |    4 +
 ...ringGlove_1_1TrackPointer__coll__graph.md5 |    1 +
 ...ringGlove_1_1TrackPointer__coll__graph.png |  Bin 0 -> 2787 bytes
 ...gGlove_1_1TrackPointer__inherit__graph.map |    4 +
 ...gGlove_1_1TrackPointer__inherit__graph.md5 |    1 +
 ...gGlove_1_1TrackPointer__inherit__graph.png |  Bin 0 -> 2787 bytes
 ...1_1HoveringHand_1_1Calibrator-members.html |  109 ++
 ...1layers_1_1HoveringHand_1_1Calibrator.html |  628 ++++++++
 ...overingHand_1_1Calibrator__coll__graph.map |    5 +
 ...overingHand_1_1Calibrator__coll__graph.md5 |    1 +
 ...overingHand_1_1Calibrator__coll__graph.png |  Bin 0 -> 4810 bytes
 ...ringHand_1_1Calibrator__inherit__graph.map |    5 +
 ...ringHand_1_1Calibrator__inherit__graph.md5 |    1 +
 ...ringHand_1_1Calibrator__inherit__graph.png |  Bin 0 -> 4810 bytes
 ...veringHand_1_1CfgHandDetector-members.html |   87 +
 ...rs_1_1HoveringHand_1_1CfgHandDetector.html |  200 +++
 ...ngHand_1_1CfgHandDetector__coll__graph.map |    5 +
 ...ngHand_1_1CfgHandDetector__coll__graph.md5 |    1 +
 ...ngHand_1_1CfgHandDetector__coll__graph.png |  Bin 0 -> 5660 bytes
 ...and_1_1CfgHandDetector__inherit__graph.map |    5 +
 ...and_1_1CfgHandDetector__inherit__graph.md5 |    1 +
 ...and_1_1CfgHandDetector__inherit__graph.png |  Bin 0 -> 5660 bytes
 ...1HoveringHand_1_1DetStateHand-members.html |   85 +
 ...ayers_1_1HoveringHand_1_1DetStateHand.html |  116 ++
 ...s_1_1HoveringHand_1_1Detector-members.html |  106 ++
 ...1_1layers_1_1HoveringHand_1_1Detector.html |  747 +++++++++
 ...1HoveringHand_1_1Detector__coll__graph.map |    4 +
 ...1HoveringHand_1_1Detector__coll__graph.md5 |    1 +
 ...1HoveringHand_1_1Detector__coll__graph.png |  Bin 0 -> 3002 bytes
 ...veringHand_1_1Detector__inherit__graph.map |    5 +
 ...veringHand_1_1Detector__inherit__graph.md5 |    1 +
 ...veringHand_1_1Detector__inherit__graph.png |  Bin 0 -> 4793 bytes
 ...ayers_1_1HoveringHand_1_1InstDetector.html |   89 ++
 ...yers_1_1HoveringHand_1_1InstPerceiver.html |   89 ++
 ..._1_1HoveringHand_1_1Perceiver-members.html |   96 ++
 ..._1layers_1_1HoveringHand_1_1Perceiver.html |  409 +++++
 ...HoveringHand_1_1Perceiver__coll__graph.map |    4 +
 ...HoveringHand_1_1Perceiver__coll__graph.md5 |    1 +
 ...HoveringHand_1_1Perceiver__coll__graph.png |  Bin 0 -> 2203 bytes
 ...eringHand_1_1Perceiver__inherit__graph.map |    4 +
 ...eringHand_1_1Perceiver__inherit__graph.md5 |    1 +
 ...eringHand_1_1Perceiver__inherit__graph.png |  Bin 0 -> 2203 bytes
 ...1HoveringHand_1_1TrackPointer-members.html |   97 ++
 ...ayers_1_1HoveringHand_1_1TrackPointer.html |  489 ++++++
 ...eringHand_1_1TrackPointer__coll__graph.map |    4 +
 ...eringHand_1_1TrackPointer__coll__graph.md5 |    1 +
 ...eringHand_1_1TrackPointer__coll__graph.png |  Bin 0 -> 2787 bytes
 ...ngHand_1_1TrackPointer__inherit__graph.map |    4 +
 ...ngHand_1_1TrackPointer__inherit__graph.md5 |    1 +
 ...ngHand_1_1TrackPointer__inherit__graph.png |  Bin 0 -> 2787 bytes
 ..._1_1PuzzleScene_1_1Calibrator-members.html |  109 ++
 ..._1layers_1_1PuzzleScene_1_1Calibrator.html |  668 ++++++++
 ...PuzzleScene_1_1Calibrator__coll__graph.map |    5 +
 ...PuzzleScene_1_1Calibrator__coll__graph.md5 |    1 +
 ...PuzzleScene_1_1Calibrator__coll__graph.png |  Bin 0 -> 4929 bytes
 ...zleScene_1_1Calibrator__inherit__graph.map |    5 +
 ...zleScene_1_1Calibrator__inherit__graph.md5 |    1 +
 ...zleScene_1_1Calibrator__inherit__graph.png |  Bin 0 -> 4929 bytes
 ...PuzzleScene_1_1CfgPuzzleScene-members.html |   88 ++
 ...yers_1_1PuzzleScene_1_1CfgPuzzleScene.html |  221 +++
 ...leScene_1_1CfgPuzzleScene__coll__graph.map |    5 +
 ...leScene_1_1CfgPuzzleScene__coll__graph.md5 |    1 +
 ...leScene_1_1CfgPuzzleScene__coll__graph.png |  Bin 0 -> 5346 bytes
 ...cene_1_1CfgPuzzleScene__inherit__graph.map |    5 +
 ...cene_1_1CfgPuzzleScene__inherit__graph.md5 |    1 +
 ...cene_1_1CfgPuzzleScene__inherit__graph.png |  Bin 0 -> 5346 bytes
 ...s_1_1PuzzleScene_1_1Detectors-members.html |  107 ++
 ...1_1layers_1_1PuzzleScene_1_1Detectors.html |  770 +++++++++
 ...PuzzleScene_1_1DetectorsState-members.html |   85 +
 ...yers_1_1PuzzleScene_1_1DetectorsState.html |  116 ++
 ...1PuzzleScene_1_1Detectors__coll__graph.map |    4 +
 ...1PuzzleScene_1_1Detectors__coll__graph.md5 |    1 +
 ...1PuzzleScene_1_1Detectors__coll__graph.png |  Bin 0 -> 3149 bytes
 ...zzleScene_1_1Detectors__inherit__graph.map |    5 +
 ...zzleScene_1_1Detectors__inherit__graph.md5 |    1 +
 ...zzleScene_1_1Detectors__inherit__graph.png |  Bin 0 -> 4961 bytes
 ...1_1PuzzleScene_1_1InstPuzzlePerceiver.html |   89 ++
 ...ers_1_1PuzzleScene_1_1InstPuzzleScene.html |   89 ++
 ...s_1_1PuzzleScene_1_1Perceiver-members.html |   96 ++
 ...1_1layers_1_1PuzzleScene_1_1Perceiver.html |  407 +++++
 ...1PuzzleScene_1_1Perceiver__coll__graph.map |    3 +
 ...1PuzzleScene_1_1Perceiver__coll__graph.md5 |    1 +
 ...1PuzzleScene_1_1Perceiver__coll__graph.png |  Bin 0 -> 1615 bytes
 ...zzleScene_1_1Perceiver__inherit__graph.map |    3 +
 ...zzleScene_1_1Perceiver__inherit__graph.md5 |    1 +
 ...zzleScene_1_1Perceiver__inherit__graph.png |  Bin 0 -> 2095 bytes
 ...1PuzzleScene_1_1TrackPointers-members.html |   98 ++
 ...ayers_1_1PuzzleScene_1_1TrackPointers.html |  505 ++++++
 ...zleScene_1_1TrackPointers__coll__graph.map |    4 +
 ...zleScene_1_1TrackPointers__coll__graph.md5 |    1 +
 ...zleScene_1_1TrackPointers__coll__graph.png |  Bin 0 -> 2946 bytes
 ...Scene_1_1TrackPointers__inherit__graph.map |    4 +
 ...Scene_1_1TrackPointers__inherit__graph.md5 |    1 +
 ...Scene_1_1TrackPointers__inherit__graph.png |  Bin 0 -> 2946 bytes
 ...nce_1_1layers_1_1base_1_1Base-members.html |   95 ++
 ...urveillance_1_1layers_1_1base_1_1Base.html |  438 +++++
 ...1_1layers_1_1base_1_1Base__coll__graph.map |    4 +
 ...1_1layers_1_1base_1_1Base__coll__graph.md5 |    1 +
 ...1_1layers_1_1base_1_1Base__coll__graph.png |  Bin 0 -> 2048 bytes
 ...layers_1_1base_1_1Base__inherit__graph.map |   12 +
 ...layers_1_1base_1_1Base__inherit__graph.md5 |    1 +
 ...layers_1_1base_1_1Base__inherit__graph.png |  Bin 0 -> 20235 bytes
 ...e_1_1layers_1_1base_1_1Params-members.html |   86 +
 ...veillance_1_1layers_1_1base_1_1Params.html |  164 ++
 ...1layers_1_1base_1_1Params__coll__graph.map |    4 +
 ...1layers_1_1base_1_1Params__coll__graph.md5 |    1 +
 ...1layers_1_1base_1_1Params__coll__graph.png |  Bin 0 -> 2041 bytes
 ...yers_1_1base_1_1Params__inherit__graph.map |    4 +
 ...yers_1_1base_1_1Params__inherit__graph.md5 |    1 +
 ...yers_1_1base_1_1Params__inherit__graph.png |  Bin 0 -> 6258 bytes
 ...ayers_1_1base__bg_1_1Base__bg-members.html |   96 ++
 ...nce_1_1layers_1_1base__bg_1_1Base__bg.html |  213 +++
 ...s_1_1base__bg_1_1Base__bg__coll__graph.map |    5 +
 ...s_1_1base__bg_1_1Base__bg__coll__graph.md5 |    1 +
 ...s_1_1base__bg_1_1Base__bg__coll__graph.png |  Bin 0 -> 3756 bytes
 ..._1base__bg_1_1Base__bg__inherit__graph.map |    6 +
 ..._1base__bg_1_1Base__bg__inherit__graph.md5 |    1 +
 ..._1base__bg_1_1Base__bg__inherit__graph.png |  Bin 0 -> 5186 bytes
 ...1layers_1_1base__bg_1_1Params-members.html |   86 +
 ...lance_1_1layers_1_1base__bg_1_1Params.html |  142 ++
 ...ers_1_1base__bg_1_1Params__coll__graph.map |    3 +
 ...ers_1_1base__bg_1_1Params__coll__graph.md5 |    1 +
 ...ers_1_1base__bg_1_1Params__coll__graph.png |  Bin 0 -> 1604 bytes
 ..._1_1base__bg_1_1Params__inherit__graph.map |    4 +
 ..._1_1base__bg_1_1Params__inherit__graph.md5 |    1 +
 ..._1_1base__bg_1_1Params__inherit__graph.png |  Bin 0 -> 4676 bytes
 ...ayers_1_1base__fg_1_1Base__fg-members.html |   96 ++
 ...nce_1_1layers_1_1base__fg_1_1Base__fg.html |  219 +++
 ...s_1_1base__fg_1_1Base__fg__coll__graph.map |    5 +
 ...s_1_1base__fg_1_1Base__fg__coll__graph.md5 |    1 +
 ...s_1_1base__fg_1_1Base__fg__coll__graph.png |  Bin 0 -> 3737 bytes
 ..._1base__fg_1_1Base__fg__inherit__graph.map |   10 +
 ..._1base__fg_1_1Base__fg__inherit__graph.md5 |    1 +
 ..._1base__fg_1_1Base__fg__inherit__graph.png |  Bin 0 -> 14969 bytes
 ...1layers_1_1base__fg_1_1Params-members.html |   86 +
 ...lance_1_1layers_1_1base__fg_1_1Params.html |  139 ++
 ...ers_1_1base__fg_1_1Params__coll__graph.map |    3 +
 ...ers_1_1base__fg_1_1Params__coll__graph.md5 |    1 +
 ...ers_1_1base__fg_1_1Params__coll__graph.png |  Bin 0 -> 1604 bytes
 ..._1_1base__fg_1_1Params__inherit__graph.map |    4 +
 ..._1_1base__fg_1_1Params__inherit__graph.md5 |    1 +
 ..._1_1base__fg_1_1Params__inherit__graph.png |  Bin 0 -> 8729 bytes
 ...1human__seg_1_1Human__ColorSG-members.html |   98 ++
 ...ayers_1_1human__seg_1_1Human__ColorSG.html |  272 ++++
 ...Human__ColorSG__HeightInRange-members.html |  111 ++
 ..._seg_1_1Human__ColorSG__HeightInRange.html |  703 ++++++++
 ...n__ColorSG__HeightInRange__coll__graph.map |    7 +
 ...n__ColorSG__HeightInRange__coll__graph.md5 |    1 +
 ...n__ColorSG__HeightInRange__coll__graph.png |  Bin 0 -> 8450 bytes
 ...ColorSG__HeightInRange__inherit__graph.map |    7 +
 ...ColorSG__HeightInRange__inherit__graph.md5 |    1 +
 ...ColorSG__HeightInRange__inherit__graph.png |  Bin 0 -> 8450 bytes
 ...an__seg_1_1Human__ColorSG__coll__graph.map |    6 +
 ...an__seg_1_1Human__ColorSG__coll__graph.md5 |    1 +
 ...an__seg_1_1Human__ColorSG__coll__graph.png |  Bin 0 -> 6189 bytes
 ..._seg_1_1Human__ColorSG__inherit__graph.map |    7 +
 ..._seg_1_1Human__ColorSG__inherit__graph.md5 |    1 +
 ..._seg_1_1Human__ColorSG__inherit__graph.png |  Bin 0 -> 8431 bytes
 ...ayers_1_1human__seg_1_1Params-members.html |   86 +
 ...nce_1_1layers_1_1human__seg_1_1Params.html |  141 ++
 ...s_1_1human__seg_1_1Params__coll__graph.map |    4 +
 ...s_1_1human__seg_1_1Params__coll__graph.md5 |    1 +
 ...s_1_1human__seg_1_1Params__coll__graph.png |  Bin 0 -> 3921 bytes
 ..._1human__seg_1_1Params__inherit__graph.map |    4 +
 ..._1human__seg_1_1Params__inherit__graph.md5 |    1 +
 ..._1human__seg_1_1Params__inherit__graph.png |  Bin 0 -> 4641 bytes
 ...zzle__seg_1_1Params__Residual-members.html |   86 +
 ...rs_1_1puzzle__seg_1_1Params__Residual.html |  141 ++
 ...__seg_1_1Params__Residual__coll__graph.map |    4 +
 ...__seg_1_1Params__Residual__coll__graph.md5 |    1 +
 ...__seg_1_1Params__Residual__coll__graph.png |  Bin 0 -> 4153 bytes
 ...eg_1_1Params__Residual__inherit__graph.map |    4 +
 ...eg_1_1Params__Residual__inherit__graph.md5 |    1 +
 ...eg_1_1Params__Residual__inherit__graph.png |  Bin 0 -> 4153 bytes
 ...zzle__seg_1_1Puzzle__Residual-members.html |  102 ++
 ...rs_1_1puzzle__seg_1_1Puzzle__Residual.html |  349 ++++
 ...__seg_1_1Puzzle__Residual__coll__graph.map |    6 +
 ...__seg_1_1Puzzle__Residual__coll__graph.md5 |    1 +
 ...__seg_1_1Puzzle__Residual__coll__graph.png |  Bin 0 -> 4879 bytes
 ...eg_1_1Puzzle__Residual__inherit__graph.map |    6 +
 ...eg_1_1Puzzle__Residual__inherit__graph.md5 |    1 +
 ...eg_1_1Puzzle__Residual__inherit__graph.png |  Bin 0 -> 4879 bytes
 ...ayers_1_1robot__seg_1_1Params-members.html |   86 +
 ...nce_1_1layers_1_1robot__seg_1_1Params.html |  139 ++
 ...s_1_1robot__seg_1_1Params__coll__graph.map |    3 +
 ...s_1_1robot__seg_1_1Params__coll__graph.md5 |    1 +
 ...s_1_1robot__seg_1_1Params__coll__graph.png |  Bin 0 -> 1604 bytes
 ..._1robot__seg_1_1Params__inherit__graph.map |    3 +
 ..._1robot__seg_1_1Params__inherit__graph.md5 |    1 +
 ..._1robot__seg_1_1Params__inherit__graph.png |  Bin 0 -> 2029 bytes
 ...1robot__seg_1_1robot__inRange-members.html |   97 ++
 ...ayers_1_1robot__seg_1_1robot__inRange.html |  229 +++
 ...seg_1_1robot__inRange__Height-members.html |  104 ++
 ...1robot__seg_1_1robot__inRange__Height.html |  379 +++++
 ...1_1robot__inRange__Height__coll__graph.map |    7 +
 ...1_1robot__inRange__Height__coll__graph.md5 |    1 +
 ...1_1robot__inRange__Height__coll__graph.png |  Bin 0 -> 7621 bytes
 ...robot__inRange__Height__inherit__graph.map |    7 +
 ...robot__inRange__Height__inherit__graph.md5 |    1 +
 ...robot__inRange__Height__inherit__graph.png |  Bin 0 -> 7621 bytes
 ...ot__seg_1_1robot__inRange__coll__graph.map |    6 +
 ...ot__seg_1_1robot__inRange__coll__graph.md5 |    1 +
 ...ot__seg_1_1robot__inRange__coll__graph.png |  Bin 0 -> 6013 bytes
 ..._seg_1_1robot__inRange__inherit__graph.map |    7 +
 ..._seg_1_1robot__inRange__inherit__graph.md5 |    1 +
 ..._seg_1_1robot__inRange__inherit__graph.png |  Bin 0 -> 7617 bytes
 ..._1_1layers_1_1scene_1_1Params-members.html |   87 +
 ...eillance_1_1layers_1_1scene_1_1Params.html |  169 ++
 ..._1scene_1_1SceneInterpreterV1-members.html |  119 ++
 ...layers_1_1scene_1_1SceneInterpreterV1.html | 1408 +++++++++++++++++
 ...1tabletop__seg_1_1Params__GMM-members.html |   86 +
 ...ayers_1_1tabletop__seg_1_1Params__GMM.html |  143 ++
 ...letop__seg_1_1Params__GMM__coll__graph.map |    5 +
 ...letop__seg_1_1Params__GMM__coll__graph.md5 |    1 +
 ...letop__seg_1_1Params__GMM__coll__graph.png |  Bin 0 -> 6342 bytes
 ...op__seg_1_1Params__GMM__inherit__graph.map |    5 +
 ...op__seg_1_1Params__GMM__inherit__graph.md5 |    1 +
 ...op__seg_1_1Params__GMM__inherit__graph.png |  Bin 0 -> 6342 bytes
 ...abletop__seg_1_1tabletop__GMM-members.html |   99 ++
 ...ers_1_1tabletop__seg_1_1tabletop__GMM.html |  263 +++
 ...top__seg_1_1tabletop__GMM__coll__graph.map |    6 +
 ...top__seg_1_1tabletop__GMM__coll__graph.md5 |    1 +
 ...top__seg_1_1tabletop__GMM__coll__graph.png |  Bin 0 -> 4800 bytes
 ...__seg_1_1tabletop__GMM__inherit__graph.map |    6 +
 ...__seg_1_1tabletop__GMM__inherit__graph.md5 |    1 +
 ...__seg_1_1tabletop__GMM__inherit__graph.png |  Bin 0 -> 4800 bytes
 ..._1utils_1_1configs_1_1CfgNode-members.html |   86 +
 ...llance_1_1utils_1_1configs_1_1CfgNode.html |  189 +++
 ...ils_1_1configs_1_1CfgNode__coll__graph.map |    4 +
 ...ils_1_1configs_1_1CfgNode__coll__graph.md5 |    1 +
 ...ils_1_1configs_1_1CfgNode__coll__graph.png |  Bin 0 -> 2933 bytes
 ..._1_1configs_1_1CfgNode__inherit__graph.map |    4 +
 ..._1_1configs_1_1CfgNode__inherit__graph.md5 |    1 +
 ..._1_1configs_1_1CfgNode__inherit__graph.png |  Bin 0 -> 2933 bytes
 ...__estimate_1_1HeightEstimator-members.html |   91 ++
 ..._1height__estimate_1_1HeightEstimator.html |  253 +++
 ...1_1region__grow_1_1MaskGrower-members.html |   98 ++
 ..._1utils_1_1region__grow_1_1MaskGrower.html |  177 +++
 ...egion__grow_1_1MaskGrower__coll__graph.map |    4 +
 ...egion__grow_1_1MaskGrower__coll__graph.md5 |    1 +
 ...egion__grow_1_1MaskGrower__coll__graph.png |  Bin 0 -> 4392 bytes
 ...on__grow_1_1MaskGrower__inherit__graph.map |    4 +
 ...on__grow_1_1MaskGrower__inherit__graph.md5 |    1 +
 ...on__grow_1_1MaskGrower__inherit__graph.png |  Bin 0 -> 4392 bytes
 ...1_1region__grow_1_1RG__Params-members.html |   86 +
 ..._1utils_1_1region__grow_1_1RG__Params.html |  147 ++
 ...grow_1_1RegionGrower__ValDiff-members.html |  100 ++
 ...region__grow_1_1RegionGrower__ValDiff.html |  211 +++
 ..._1_1RegionGrower__ValDiff__coll__graph.map |    4 +
 ..._1_1RegionGrower__ValDiff__coll__graph.md5 |    1 +
 ..._1_1RegionGrower__ValDiff__coll__graph.png |  Bin 0 -> 4499 bytes
 ...1RegionGrower__ValDiff__inherit__graph.map |    4 +
 ...1RegionGrower__ValDiff__inherit__graph.md5 |    1 +
 ...1RegionGrower__ValDiff__inherit__graph.png |  Bin 0 -> 4499 bytes
 ...n__grow_1_1RegionGrower__base-members.html |   98 ++
 ...1_1region__grow_1_1RegionGrower__base.html |  436 +++++
 ..._1_1RegionGrower__base__inherit__graph.map |    5 +
 ..._1_1RegionGrower__base__inherit__graph.md5 |    1 +
 ..._1_1RegionGrower__base__inherit__graph.png |  Bin 0 -> 6246 bytes
 ...specifications_1_1dict2struct-members.html |   86 +
 ...tils_1_1specifications_1_1dict2struct.html |  153 ++
 ...cifications_1_1specifications-members.html |   95 ++
 ...s_1_1specifications_1_1specifications.html |  318 ++++
 ...transform_1_1frameTransformer-members.html |   94 ++
 ...tils_1_1transform_1_1frameTransformer.html |  416 +++++
 docs/classhistogram_1_1Histogram-members.html |   88 ++
 docs/classhistogram_1_1Histogram.html         |  263 +++
 ...asshistogram_1_1Histogram__coll__graph.map |    4 +
 ...asshistogram_1_1Histogram__coll__graph.md5 |    1 +
 ...asshistogram_1_1Histogram__coll__graph.png |  Bin 0 -> 3316 bytes
 ...histogram_1_1Histogram__inherit__graph.map |    4 +
 ...histogram_1_1Histogram__inherit__graph.md5 |    1 +
 ...histogram_1_1Histogram__inherit__graph.png |  Bin 0 -> 3316 bytes
 docs/classmoments_1_1Moments-members.html     |   88 ++
 docs/classmoments_1_1Moments.html             |  263 +++
 docs/classmoments_1_1Moments__coll__graph.map |    4 +
 docs/classmoments_1_1Moments__coll__graph.md5 |    1 +
 docs/classmoments_1_1Moments__coll__graph.png |  Bin 0 -> 3253 bytes
 ...lassmoments_1_1Moments__inherit__graph.map |    4 +
 ...lassmoments_1_1Moments__inherit__graph.md5 |    1 +
 ...lassmoments_1_1Moments__inherit__graph.png |  Bin 0 -> 3253 bytes
 docs/classpca_1_1PCA-members.html             |   88 ++
 docs/classpca_1_1PCA.html                     |  266 ++++
 docs/classpca_1_1PCA__coll__graph.map         |    4 +
 docs/classpca_1_1PCA__coll__graph.md5         |    1 +
 docs/classpca_1_1PCA__coll__graph.png         |  Bin 0 -> 2749 bytes
 docs/classpca_1_1PCA__inherit__graph.map      |    4 +
 docs/classpca_1_1PCA__inherit__graph.md5      |    1 +
 docs/classpca_1_1PCA__inherit__graph.png      |  Bin 0 -> 2749 bytes
 ...classpuzzle_1_1board_1_1Board-members.html |  101 ++
 docs/classpuzzle_1_1board_1_1Board.html       |  772 +++++++++
 ...zzle_1_1board_1_1Board__inherit__graph.map |    7 +
 ...zzle_1_1board_1_1Board__inherit__graph.md5 |    1 +
 ...zzle_1_1board_1_1Board__inherit__graph.png |  Bin 0 -> 5951 bytes
 ..._1board_1_1CfgCorrespondences-members.html |   89 ++
 ...puzzle_1_1board_1_1CfgCorrespondences.html |  252 +++
 ...ard_1_1CfgCorrespondences__coll__graph.map |    5 +
 ...ard_1_1CfgCorrespondences__coll__graph.md5 |    1 +
 ...ard_1_1CfgCorrespondences__coll__graph.png |  Bin 0 -> 5627 bytes
 ..._1_1CfgCorrespondences__inherit__graph.map |    5 +
 ..._1_1CfgCorrespondences__inherit__graph.md5 |    1 +
 ..._1_1CfgCorrespondences__inherit__graph.png |  Bin 0 -> 5627 bytes
 ...1board_1_1CorrespondenceParms-members.html |   85 +
 ...uzzle_1_1board_1_1CorrespondenceParms.html |  116 ++
 ...e_1_1board_1_1Correspondences-members.html |  103 ++
 ...asspuzzle_1_1board_1_1Correspondences.html |  578 +++++++
 ...ilder_1_1adjacent_1_1Adjacent-members.html |  116 ++
 ...le_1_1builder_1_1adjacent_1_1Adjacent.html |  647 ++++++++
 ...r_1_1adjacent_1_1Adjacent__coll__graph.map |    5 +
 ...r_1_1adjacent_1_1Adjacent__coll__graph.md5 |    1 +
 ...r_1_1adjacent_1_1Adjacent__coll__graph.png |  Bin 0 -> 4537 bytes
 ..._1adjacent_1_1Adjacent__inherit__graph.map |    7 +
 ..._1adjacent_1_1Adjacent__inherit__graph.md5 |    1 +
 ..._1adjacent_1_1Adjacent__inherit__graph.png |  Bin 0 -> 6668 bytes
 ...er_1_1adjacent_1_1CfgAdjacent-members.html |   89 ++
 ...1_1builder_1_1adjacent_1_1CfgAdjacent.html |  239 +++
 ..._1adjacent_1_1CfgAdjacent__coll__graph.map |    9 +
 ..._1adjacent_1_1CfgAdjacent__coll__graph.md5 |    1 +
 ..._1adjacent_1_1CfgAdjacent__coll__graph.png |  Bin 0 -> 12177 bytes
 ...djacent_1_1CfgAdjacent__inherit__graph.map |   11 +
 ...djacent_1_1CfgAdjacent__inherit__graph.md5 |    1 +
 ...djacent_1_1CfgAdjacent__inherit__graph.png |  Bin 0 -> 17604 bytes
 ...1_1arrangement_1_1Arrangement-members.html |  114 ++
 ...builder_1_1arrangement_1_1Arrangement.html |  804 ++++++++++
 ...rrangement_1_1Arrangement__coll__graph.map |    4 +
 ...rrangement_1_1Arrangement__coll__graph.md5 |    1 +
 ...rrangement_1_1Arrangement__coll__graph.png |  Bin 0 -> 2616 bytes
 ...ngement_1_1Arrangement__inherit__graph.map |    7 +
 ...ngement_1_1Arrangement__inherit__graph.md5 |    1 +
 ...ngement_1_1Arrangement__inherit__graph.png |  Bin 0 -> 6439 bytes
 ...arrangement_1_1CfgArrangement-members.html |   89 ++
 ...lder_1_1arrangement_1_1CfgArrangement.html |  238 +++
 ...ngement_1_1CfgArrangement__coll__graph.map |    8 +
 ...ngement_1_1CfgArrangement__coll__graph.md5 |    1 +
 ...ngement_1_1CfgArrangement__coll__graph.png |  Bin 0 -> 11537 bytes
 ...ment_1_1CfgArrangement__inherit__graph.map |   11 +
 ...ment_1_1CfgArrangement__inherit__graph.md5 |    1 +
 ...ment_1_1CfgArrangement__inherit__graph.png |  Bin 0 -> 17574 bytes
 ...lder_1_1gridded_1_1CfgGridded-members.html |   89 ++
 ...e_1_1builder_1_1gridded_1_1CfgGridded.html |  237 +++
 ..._1_1gridded_1_1CfgGridded__coll__graph.map |   11 +
 ..._1_1gridded_1_1CfgGridded__coll__graph.md5 |    1 +
 ..._1_1gridded_1_1CfgGridded__coll__graph.png |  Bin 0 -> 17524 bytes
 ...1gridded_1_1CfgGridded__inherit__graph.map |   11 +
 ...1gridded_1_1CfgGridded__inherit__graph.md5 |    1 +
 ...1gridded_1_1CfgGridded__inherit__graph.png |  Bin 0 -> 17524 bytes
 ...builder_1_1gridded_1_1Gridded-members.html |  121 ++
 ...zzle_1_1builder_1_1gridded_1_1Gridded.html |  735 +++++++++
 ...der_1_1gridded_1_1Gridded__coll__graph.map |    7 +
 ...der_1_1gridded_1_1Gridded__coll__graph.md5 |    1 +
 ...der_1_1gridded_1_1Gridded__coll__graph.png |  Bin 0 -> 5912 bytes
 ..._1_1gridded_1_1Gridded__inherit__graph.map |    7 +
 ..._1_1gridded_1_1Gridded__inherit__graph.md5 |    1 +
 ..._1_1gridded_1_1Gridded__inherit__graph.png |  Bin 0 -> 5912 bytes
 ...terlocking_1_1CfgInterlocking-members.html |   89 ++
 ...er_1_1interlocking_1_1CfgInterlocking.html |  240 +++
 ...ocking_1_1CfgInterlocking__coll__graph.map |   10 +
 ...ocking_1_1CfgInterlocking__coll__graph.md5 |    1 +
 ...ocking_1_1CfgInterlocking__coll__graph.png |  Bin 0 -> 13972 bytes
 ...ing_1_1CfgInterlocking__inherit__graph.map |   11 +
 ...ing_1_1CfgInterlocking__inherit__graph.md5 |    1 +
 ...ing_1_1CfgInterlocking__inherit__graph.png |  Bin 0 -> 17532 bytes
 ...1interlocking_1_1Interlocking-members.html |  118 ++
 ...ilder_1_1interlocking_1_1Interlocking.html |  655 ++++++++
 ...erlocking_1_1Interlocking__coll__graph.map |    6 +
 ...erlocking_1_1Interlocking__coll__graph.md5 |    1 +
 ...erlocking_1_1Interlocking__coll__graph.png |  Bin 0 -> 5124 bytes
 ...ocking_1_1Interlocking__inherit__graph.map |    7 +
 ...ocking_1_1Interlocking__inherit__graph.md5 |    1 +
 ...ocking_1_1Interlocking__inherit__graph.png |  Bin 0 -> 6316 bytes
 ...lusters_1_1byColor_1_1ByColor-members.html |   90 ++
 ...zle_1_1clusters_1_1byColor_1_1ByColor.html |  249 +++
 ...ers_1_1byColor_1_1ByColor__coll__graph.map |    4 +
 ...ers_1_1byColor_1_1ByColor__coll__graph.md5 |    1 +
 ...ers_1_1byColor_1_1ByColor__coll__graph.png |  Bin 0 -> 2206 bytes
 ..._1_1byColor_1_1ByColor__inherit__graph.map |    4 +
 ..._1_1byColor_1_1ByColor__inherit__graph.md5 |    1 +
 ..._1_1byColor_1_1ByColor__inherit__graph.png |  Bin 0 -> 2206 bytes
 ...1byColor_1_1ParamColorCluster-members.html |   85 +
 ...sters_1_1byColor_1_1ParamColorCluster.html |  116 ++
 ...lusters_1_1byShape_1_1ByShape-members.html |   90 ++
 ...zle_1_1clusters_1_1byShape_1_1ByShape.html |  248 +++
 ...ers_1_1byShape_1_1ByShape__coll__graph.map |    4 +
 ...ers_1_1byShape_1_1ByShape__coll__graph.md5 |    1 +
 ...ers_1_1byShape_1_1ByShape__coll__graph.png |  Bin 0 -> 2582 bytes
 ..._1_1byShape_1_1ByShape__inherit__graph.map |    4 +
 ..._1_1byShape_1_1ByShape__inherit__graph.md5 |    1 +
 ..._1_1byShape_1_1ByShape__inherit__graph.png |  Bin 0 -> 2582 bytes
 ...1byShape_1_1ParamShapeCluster-members.html |   85 +
 ...sters_1_1byShape_1_1ParamShapeCluster.html |  116 ++
 ...spuzzle_1_1manager_1_1Manager-members.html |   98 ++
 docs/classpuzzle_1_1manager_1_1Manager.html   |  481 ++++++
 ...le_1_1manager_1_1ManagerParms-members.html |   85 +
 ...lasspuzzle_1_1manager_1_1ManagerParms.html |  116 ++
 ...zle_1_1manager_1_1Manager__coll__graph.map |    4 +
 ...zle_1_1manager_1_1Manager__coll__graph.md5 |    1 +
 ...zle_1_1manager_1_1Manager__coll__graph.png |  Bin 0 -> 2600 bytes
 ..._1_1manager_1_1Manager__inherit__graph.map |    4 +
 ..._1_1manager_1_1Manager__inherit__graph.md5 |    1 +
 ..._1_1manager_1_1Manager__inherit__graph.png |  Bin 0 -> 2600 bytes
 ...rse_1_1fromLayer_1_1FromLayer-members.html |  116 ++
 ...le_1_1parse_1_1fromLayer_1_1FromLayer.html |  526 ++++++
 ...1_1fromLayer_1_1FromLayer__coll__graph.map |    6 +
 ...1_1fromLayer_1_1FromLayer__coll__graph.md5 |    1 +
 ...1_1fromLayer_1_1FromLayer__coll__graph.png |  Bin 0 -> 6144 bytes
 ...fromLayer_1_1FromLayer__inherit__graph.map |    6 +
 ...fromLayer_1_1FromLayer__inherit__graph.md5 |    1 +
 ...fromLayer_1_1FromLayer__inherit__graph.png |  Bin 0 -> 6144 bytes
 ...e_1_1fromLayer_1_1ParamPuzzle-members.html |   87 +
 ..._1_1parse_1_1fromLayer_1_1ParamPuzzle.html |  164 ++
 ...e_1_1fromSketch_1_1FromSketch-members.html |  106 ++
 ..._1_1parse_1_1fromSketch_1_1FromSketch.html |  337 ++++
 ...1fromSketch_1_1FromSketch__coll__graph.map |    6 +
 ...1fromSketch_1_1FromSketch__coll__graph.md5 |    1 +
 ...1fromSketch_1_1FromSketch__coll__graph.png |  Bin 0 -> 5015 bytes
 ...omSketch_1_1FromSketch__inherit__graph.map |    6 +
 ...omSketch_1_1FromSketch__inherit__graph.md5 |    1 +
 ...omSketch_1_1FromSketch__inherit__graph.png |  Bin 0 -> 5015 bytes
 ..._1_1parse_1_1simple_1_1Simple-members.html |   94 ++
 ...sspuzzle_1_1parse_1_1simple_1_1Simple.html |  385 +++++
 ...parse_1_1simple_1_1Simple__coll__graph.map |    4 +
 ...parse_1_1simple_1_1Simple__coll__graph.md5 |    1 +
 ...parse_1_1simple_1_1Simple__coll__graph.png |  Bin 0 -> 2260 bytes
 ...se_1_1simple_1_1Simple__inherit__graph.map |    4 +
 ...se_1_1simple_1_1Simple__inherit__graph.md5 |    1 +
 ...se_1_1simple_1_1Simple__inherit__graph.png |  Bin 0 -> 2260 bytes
 ..._1_1parser_1_1CfgBoardMeasure-members.html |   89 ++
 ...sspuzzle_1_1parser_1_1CfgBoardMeasure.html |  253 +++
 ...parser_1_1CfgBoardMeasure__coll__graph.map |    7 +
 ...parser_1_1CfgBoardMeasure__coll__graph.md5 |    1 +
 ...parser_1_1CfgBoardMeasure__coll__graph.png |  Bin 0 -> 8535 bytes
 ...ser_1_1CfgBoardMeasure__inherit__graph.map |   11 +
 ...ser_1_1CfgBoardMeasure__inherit__graph.md5 |    1 +
 ...ser_1_1CfgBoardMeasure__inherit__graph.png |  Bin 0 -> 17654 bytes
 ...zle_1_1parser_1_1boardMeasure-members.html |  115 ++
 ...classpuzzle_1_1parser_1_1boardMeasure.html |  532 +++++++
 ...1_1parser_1_1boardMeasure__coll__graph.map |    6 +
 ...1_1parser_1_1boardMeasure__coll__graph.md5 |    1 +
 ...1_1parser_1_1boardMeasure__coll__graph.png |  Bin 0 -> 4989 bytes
 ...parser_1_1boardMeasure__inherit__graph.map |    6 +
 ...parser_1_1boardMeasure__inherit__graph.md5 |    1 +
 ...parser_1_1boardMeasure__inherit__graph.png |  Bin 0 -> 4989 bytes
 ...le_1_1parser_1_1boardPerceive-members.html |   94 ++
 ...lasspuzzle_1_1parser_1_1boardPerceive.html |  391 +++++
 ..._1parser_1_1boardPerceive__coll__graph.map |    4 +
 ..._1parser_1_1boardPerceive__coll__graph.md5 |    1 +
 ..._1parser_1_1boardPerceive__coll__graph.png |  Bin 0 -> 2814 bytes
 ...arser_1_1boardPerceive__inherit__graph.map |    4 +
 ...arser_1_1boardPerceive__inherit__graph.md5 |    1 +
 ...arser_1_1boardPerceive__inherit__graph.png |  Bin 0 -> 2814 bytes
 ...asspuzzle_1_1piece_1_1EdgeDes-members.html |   86 +
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 ...classpuzzle_1_1pieces_1_1edge_1_1Edge.html |  456 ++++++
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 ...pieces_1_1edge_1_1Edge__inherit__graph.png |  Bin 0 -> 4402 bytes
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 ...eces_1_1matchDifferent_1_1CfgDistance.html |  222 +++
 ...hDifferent_1_1CfgDistance__coll__graph.map |    7 +
 ...hDifferent_1_1CfgDistance__coll__graph.md5 |    1 +
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 ...chDifferent_1_1CfgMoments__coll__graph.md5 |    1 +
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 ...ifferent_1_1CfgMoments__inherit__graph.md5 |    1 +
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 ...s_1_1matchDifferent_1_1CfgPCA-members.html |   87 +
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 ...1_1matchDifferent_1_1Distance-members.html |   90 ++
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 ...atchDifferent_1_1Distance__coll__graph.map |    5 +
 ...atchDifferent_1_1Distance__coll__graph.md5 |    1 +
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 ...hDifferent_1_1Distance__inherit__graph.md5 |    1 +
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 ...matchDifferent_1_1HistogramCV-members.html |   89 ++
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 ...hDifferent_1_1HistogramCV__coll__graph.map |    5 +
 ...hDifferent_1_1HistogramCV__coll__graph.md5 |    1 +
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 ...chDifferent_1_1Moments__inherit__graph.map |    5 +
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 ...eces_1_1matchDifferent_1_1PCA-members.html |   90 ++
 ...le_1_1pieces_1_1matchDifferent_1_1PCA.html |  291 ++++
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 ...chSimilar_1_1CfgSIFTCV__inherit__graph.map |    4 +
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 ...chSimilar_1_1CfgSIFTCV__inherit__graph.png |  Bin 0 -> 2884 bytes
 ...ces_1_1matchSimilar_1_1SIFTCV-members.html |   88 ++
 ...e_1_1pieces_1_1matchSimilar_1_1SIFTCV.html |  288 ++++
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 ...es_1_1matcher_1_1CfgDifferent-members.html |   87 +
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 ...eces_1_1matcher_1_1CfgMatcher-members.html |   87 +
 ...le_1_1pieces_1_1matcher_1_1CfgMatcher.html |  226 +++
 ..._1_1matcher_1_1CfgMatcher__coll__graph.map |    5 +
 ..._1_1matcher_1_1CfgMatcher__coll__graph.md5 |    1 +
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 ...eces_1_1matcher_1_1CfgSimilar-members.html |   87 +
 ...le_1_1pieces_1_1matcher_1_1CfgSimilar.html |  220 +++
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 ..._1_1matcher_1_1CfgSimilar__coll__graph.md5 |    1 +
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 ...matcher_1_1MatchDifferent__coll__graph.md5 |    1 +
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 ...es_1_1matcher_1_1MatchSimilar-members.html |   89 ++
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 ...atcher_1_1MatchSimilar__inherit__graph.map |    5 +
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 ...classpuzzle_1_1pieces_1_1sift_1_1Sift.html |  353 +++++
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 ...uzzle_1_1runner_1_1RealSolver-members.html |  101 ++
 docs/classpuzzle_1_1runner_1_1RealSolver.html |  526 ++++++
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 ...zle_1_1simulator_1_1action_1_1Actions.html |  317 ++++
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 ...ulator_1_1basic_1_1ParamBasic-members.html |   85 +
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 ..._1_1simulator_1_1hand_1_1Hand-members.html |  101 ++
 ...sspuzzle_1_1simulator_1_1hand_1_1Hand.html |  632 ++++++++
 ...imulator_1_1hand_1_1ParamHand-members.html |   85 +
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 ...or_1_1planner_1_1ParamPlanner-members.html |   85 +
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 ...mulator_1_1planner_1_1Planner-members.html |   97 ++
 ...le_1_1simulator_1_1planner_1_1Planner.html |  534 +++++++
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 ...le_1_1simulator_1_1simTime_1_1ParamST.html |  168 ++
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 ...mulator_1_1simTime_1_1SimTime-members.html |  120 ++
 ...le_1_1simulator_1_1simTime_1_1SimTime.html |  573 +++++++
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 ...or_1_1simTimeless_1_1ParamSTL-members.html |   86 +
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 ...1_1simTimeless_1_1SimTimeLess-members.html |  109 ++
 ...mulator_1_1simTimeless_1_1SimTimeLess.html |  450 ++++++
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 ...zle_1_1solver_1_1base_1_1Base-members.html |   89 ++
 ...classpuzzle_1_1solver_1_1base_1_1Base.html |  250 +++
 ...solver_1_1base_1_1Base__inherit__graph.map |    5 +
 ...solver_1_1base_1_1Base__inherit__graph.md5 |    1 +
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 ...spuzzle_1_1solver_1_1simple_1_1Simple.html |  486 ++++++
 ...olver_1_1simple_1_1Simple__coll__graph.map |    4 +
 ...olver_1_1simple_1_1Simple__coll__graph.md5 |    1 +
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 ...olver_1_1twoAgent_1_1TwoAgent-members.html |  102 ++
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 ...aProcessing_1_1copyAttributes-members.html |   87 +
 ...s_1_1dataProcessing_1_1copyAttributes.html |  204 +++
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 ...cessing_1_1copyAttributes__coll__graph.md5 |    1 +
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 ...ocessing_1_1TextRectException-members.html |   87 +
 ...pygameProcessing_1_1TextRectException.html |  164 ++
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 docs/dataProcessing_8py.html                  |  109 ++
 docs/default__params_8py.html                 |  109 ++
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 .../dir_ec0d9d8da4df34e2f4f6ed83d9569665.html |  115 ++
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 ...paceSurveillance_1_1deployment_1_1ROS.html |   95 ++
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 ..._2puzzle_2simulator_2____init_____8py.html |   89 ++
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 ...ver_2puzzle_2solver_2____init_____8py.html |   89 ++
 ...zle__solver_2puzzle_2solver_2base_8py.html |   95 ++
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 ...olver_2puzzle_8egg-info_2SOURCES_8txt.html |   77 +
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+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1activity_1_1FSM_1_1Pick-members.html">List of all members</a>  </div>
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+<div class="title">Pick Class Reference</div>  </div>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td>(</td>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac0e04a6d0292eed0154740ef0ed44772"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac0e04a6d0292eed0154740ef0ed44772">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+<pre class="fragment">Process the new income signal
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
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diff --git a/docs/classSurveillance_1_1activity_1_1state_1_1Base__state-members.html b/docs/classSurveillance_1_1activity_1_1state_1_1Base__state-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+
+<div id="nav-path" class="navpath">
+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Base_state Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">Surveillance::activity::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">f_idx</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#afcb58d3f4cef0741e4bedfdfd9937edd">measure</a>(self, List cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">Surveillance::activity::base::Base.measure</a>(self, signal)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#aa1c8a34591407230f3ffaa4619e4da18">signal_cache_count</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">signals_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5b37c3f18dcec9a4fa733cd6950cf203">state_cache_count</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2c2e6c19ea5d524edc2f5ceafec04505">state_cache_limit</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2ed7b3e356be3f0649646fc5d99a1b99">state_names</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a20c4cdd5da2a6996269a0a0773c4fd8e">state_number</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#abb19d29292d31f9f00cbe238ed5bd750">states_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
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+</table></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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diff --git a/docs/classSurveillance_1_1activity_1_1state_1_1Base__state.html b/docs/classSurveillance_1_1activity_1_1state_1_1Base__state.html
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--- /dev/null
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Base_state Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity.html">activity</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity_1_1state.html">state</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1activity_1_1state_1_1Base__state-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base_state Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base_state:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1activity_1_1state_1_1Base__state__inherit__graph.png" border="0" usemap="#Base__state_inherit__map" alt="Inheritance graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="separator:ab4dea73d1d875356d9cdde9ade8dd32e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:afcb58d3f4cef0741e4bedfdfd9937edd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9858f5e1a6c6dc57d33624584fd9886e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1eec535b9845bd66901c9157c5b58978"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a751babe7c132b73be1c74543a2ca0589"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">__init__</a> (self)</td></tr>
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+<tr class="separator:a3f47213028c5bd7e7bf8516db1b13044 inherit pub_methods_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a88dfdf23780898e0a861e80bd6f1ef3f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">f_idx</a></td></tr>
+<tr class="separator:a88dfdf23780898e0a861e80bd6f1ef3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa1c8a34591407230f3ffaa4619e4da18"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#aa1c8a34591407230f3ffaa4619e4da18">signal_cache_count</a></td></tr>
+<tr class="separator:aa1c8a34591407230f3ffaa4619e4da18"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a28314c9c0ccf3c398d8fd10022082a90"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a21f8389463617321cd3dfa303300f977"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0184e72a47375fc9ba1f5dcf26168b06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5aebb28daf3ecb5d12dc80dccf607a33"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">signals_cache</a></td></tr>
+<tr class="separator:a5aebb28daf3ecb5d12dc80dccf607a33"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5b37c3f18dcec9a4fa733cd6950cf203"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2c2e6c19ea5d524edc2f5ceafec04505"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2ed7b3e356be3f0649646fc5d99a1b99"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a20c4cdd5da2a6996269a0a0773c4fd8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abb19d29292d31f9f00cbe238ed5bd750"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The base class for the human state estimator.
+
+@param[in]  signal_number               how many signals will be used as input
+@param[in]  state_number                how many states will be estimated
+
+@param[in]  signal_cache_limit            How many previous signals to be stored. Default:1000
+@param[in]  state_cache_limit             How many previous states to be stored. Default:1000
+
+@param[in]  signal_names                A list of signal names. If empty then will assign signal_1, signal_2, ...
+@param[in]  state_names                 A list of state names. If empty then will assign state_1, state_2, ...
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a586ff62eb2ce0b6cb7d93bf191044a4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a586ff62eb2ce0b6cb7d93bf191044a4a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_names</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_names</em> = <code>[]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab4dea73d1d875356d9cdde9ade8dd32e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4dea73d1d875356d9cdde9ade8dd32e">&#9670;&nbsp;</a></span>get_states()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_states </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the latest state.
+
+Returns:
+    latest_state (binary, (N_state, )).         The last binary states. N_states is the number of the state
+</pre> 
+</div>
+</div>
+<a id="afcb58d3f4cef0741e4bedfdfd9937edd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afcb58d3f4cef0741e4bedfdfd9937edd">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">List&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">The workflow of the signal2state 
+
+@param[in]  cur_signals.            An array of the signals, each element of which represents the new income of different signal types
+</pre> 
+</div>
+</div>
+<a id="a9858f5e1a6c6dc57d33624584fd9886e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9858f5e1a6c6dc57d33624584fd9886e">&#9670;&nbsp;</a></span>parse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the state out of the signals. Return the states
+</pre> 
+</div>
+</div>
+<a id="a1eec535b9845bd66901c9157c5b58978"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1eec535b9845bd66901c9157c5b58978">&#9670;&nbsp;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_states</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update the cache states with new ones
+</pre> 
+</div>
+</div>
+<a id="a751babe7c132b73be1c74543a2ca0589"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a751babe7c132b73be1c74543a2ca0589">&#9670;&nbsp;</a></span>visualize_state_evolving()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def visualize_state_evolving </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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+<title>IVALab Python Libraries: Member List</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity.html">activity</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1activity_1_1state.html">state</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">StateEstimator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa0c505454dd1ca2ca78e62121ec785a2">__init__</a>(self, signal_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_number=3, state_names=[&quot;Move&quot;, &quot;Progress_Made&quot;, &quot;Puzzle_in_Hand&quot;], move_th=2, hand_track_color=[255, 0, 0], state_text_color=[255, 0, 0])</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a586ff62eb2ce0b6cb7d93bf191044a4a">Surveillance::activity::state::Base_state.__init__</a>(self, signal_number, state_number, signal_cache_limit=1000, state_cache_limit=1000, signal_names=[], state_names=[])</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">Surveillance::activity::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a88dfdf23780898e0a861e80bd6f1ef3f">f_idx</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#ab4dea73d1d875356d9cdde9ade8dd32e">get_states</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a755db67058f57a4cfb7e3c493e748d">hand_track_color</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#afcb58d3f4cef0741e4bedfdfd9937edd">measure</a>(self, List cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a3f47213028c5bd7e7bf8516db1b13044">Surveillance::activity::base::Base.measure</a>(self, signal)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">move_th</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a64c49966bde4f222ddb7e7f7c17ec226">parse</a>(self, List cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a9858f5e1a6c6dc57d33624584fd9886e">Surveillance::activity::state::Base_state.parse</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a450bf2386a831696ea47dc70bb55a69c">parse_move</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a8a7474e580725ee053a48612793e1253">parse_PinH</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae7646cb1c3ffdc05383c5f3e8329d5bd">parse_progress</a>(self, cur_signals)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ae0498ceb65c213e746f4b5dc95ef562b">plot_states</a>(self, rgb)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a>(self, signal)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#aa1c8a34591407230f3ffaa4619e4da18">signal_cache_count</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a28314c9c0ccf3c398d8fd10022082a90">signal_cache_limit</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a21f8389463617321cd3dfa303300f977">signal_names</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a0184e72a47375fc9ba1f5dcf26168b06">signal_number</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5aebb28daf3ecb5d12dc80dccf607a33">signals_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a5b37c3f18dcec9a4fa733cd6950cf203">state_cache_count</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2c2e6c19ea5d524edc2f5ceafec04505">state_cache_limit</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a2ed7b3e356be3f0649646fc5d99a1b99">state_names</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a20c4cdd5da2a6996269a0a0773c4fd8e">state_number</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#a3c11a98e3678a788489657b0c949b224">state_text_color</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#abb19d29292d31f9f00cbe238ed5bd750">states_cache</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a1eec535b9845bd66901c9157c5b58978">update</a>(self, cur_signals, cur_states)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html#ab89d735316a9c5c52428507f40f6394c">visualize</a>(self, rgb, ratio=0.5, window_name=&quot;States&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1StateEstimator.html">StateEstimator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html#a751babe7c132b73be1c74543a2ca0589">visualize_state_evolving</a>(self, fh=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1state_1_1Base__state.html">Base_state</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+<title>IVALab Python Libraries: StateEstimator Class Reference</title>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1activity_1_1state_1_1StateEstimator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">StateEstimator Class Reference</div>  </div>
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+<div class="contents">
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+Inheritance diagram for StateEstimator:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1activity_1_1state_1_1StateEstimator__coll__graph.png" border="0" usemap="#StateEstimator_coll__map" alt="Collaboration graph"/></div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+Public Attributes</h2></td></tr>
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+<tr class="inherit_header pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classSurveillance_1_1activity_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1activity_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The State Estimator v1.0
+
+Fix to estimate three binary states: Move, Make_Puzzle_Progress, Puzzle_in_hand.
+The signal used for the state estimation is:
+    1. The hand location,
+    2. The puzzle solving progress (percentage)
+    3. Piece in hand 
+For now allow customization for the signals and the states used for the development purpose
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa0c505454dd1ca2ca78e62121ec785a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0c505454dd1ca2ca78e62121ec785a2">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_number</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_cache_limit</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>signal_names</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_number</em> = <code>3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_names</em> = <code>[&quot;Move&quot;,&#160;&quot;Progress_Made&quot;,&#160;&quot;Puzzle_in_Hand&quot;]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>move_th</em> = <code>2</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hand_track_color</em> = <code>[255,&#160;0,&#160;0]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>state_text_color</em> = <code>[255,&#160;0,&#160;0]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a64c49966bde4f222ddb7e7f7c17ec226"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64c49966bde4f222ddb7e7f7c17ec226">&#9670;&nbsp;</a></span>parse()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">List&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the states out of the signals
+
+Args:
+    cur_signals (np.ndarray, (signal_number, )):    The signals of the current timestamp. \
+According to the current design, the signals should be a list who stores: \
+    1. hand location (np.ndarray, (2, ))
+    2. Puzzle solving progress (percentage number)
+    3. puzzle piece in hand (binary)
+Return:
+    cur_states (np.ndarray, (state_num, )):         The states parsed of the current timestamp
+</pre> 
+</div>
+</div>
+<a id="a450bf2386a831696ea47dc70bb55a69c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a450bf2386a831696ea47dc70bb55a69c">&#9670;&nbsp;</a></span>parse_move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the moving state
+</pre> 
+</div>
+</div>
+<a id="a8a7474e580725ee053a48612793e1253"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a7474e580725ee053a48612793e1253">&#9670;&nbsp;</a></span>parse_PinH()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_PinH </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse whether the puzzle-in-hand state, which is a binary indicator whether the hand is holding a puzzle piece or not
+</pre> 
+</div>
+</div>
+<a id="ae7646cb1c3ffdc05383c5f3e8329d5bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7646cb1c3ffdc05383c5f3e8329d5bd">&#9670;&nbsp;</a></span>parse_progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parse_progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cur_signals</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the progress state, which is a binary indicator of whether the puzzle solving is making progress or not
+</pre> 
+</div>
+</div>
+<a id="ae0498ceb65c213e746f4b5dc95ef562b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae0498ceb65c213e746f4b5dc95ef562b">&#9670;&nbsp;</a></span>plot_states()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def plot_states </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab89d735316a9c5c52428507f40f6394c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab89d735316a9c5c52428507f40f6394c">&#9670;&nbsp;</a></span>visualize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def visualize </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>0.5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;States&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the state process on the image data with the necessary facilitative plots
+
+The state will be displayed on the top left corner of the frame.
+For the facilitative plots,
+    (1) the hand tracker and the recent trajectory will be plotted
+
+Args:
+    rgb (array, (H, W, 3)):         The RGB image on which to display the states and drawing
+    ratio (float, ):                The scaling ratio for the display
+    window_name (str):              The window name for the display
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8a755db67058f57a4cfb7e3c493e748d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8a755db67058f57a4cfb7e3c493e748d">&#9670;&nbsp;</a></span>hand_track_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand_track_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2afa75db8a8d05d8e43d2a6e0bf2ee7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2afa75db8a8d05d8e43d2a6e0bf2ee7b">&#9670;&nbsp;</a></span>move_th</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">move_th</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa1c8a34591407230f3ffaa4619e4da18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa1c8a34591407230f3ffaa4619e4da18">&#9670;&nbsp;</a></span>signal_cache_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">signal_cache_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3c11a98e3678a788489657b0c949b224"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c11a98e3678a788489657b0c949b224">&#9670;&nbsp;</a></span>state_text_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">state_text_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/activity/<a class="el" href="state_8py.html">state.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a15c737ae7595175e7a2c4c72a6eeb82c">humanImg</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a430bc4cf45e20b4c9b1a9e86e9004f62">humanMask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ae11f1e39550e6c745f47bf44a76d425d">img_BEV</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#adf2548b502450159132dbc836edf0598">intrinsic</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a74305488ae29bb8dae62e6e4fe2cddc3">meaBoardMask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html b/docs/classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html
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+<tr class="memitem:aff24747c99da434ec48af92530b4e0f9"><td class="memItemLeft" align="right" valign="top">None&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aff24747c99da434ec48af92530b4e0f9">__init__</a> (self, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a88d9bfa38569e9270e71f758f93e7d48">imgSource</a>, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#adf2548b502450159132dbc836edf0598">intrinsic</a>, scene.SceneInterpreterV1 <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a6928de54b8e3273f4e582acd4d41d98a">scene_interpreter</a>, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a>, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a>=<a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a>, <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a> <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a41000f175dc0115080e2a682cc06dbe9">params</a>=<a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>())</td></tr>
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+<tr class="memdesc:aa7616a745363f770214a417ef80e7e06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build the deployment runner instance from a store <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a> bag.  <a href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#aa7616a745363f770214a417ef80e7e06">More...</a><br /></td></tr>
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+<tr class="memdesc:ab6e2df08333381b54765a90195ef8028"><td class="mdescLeft">&#160;</td><td class="mdescRight">Builder for publishing the calibration data to <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a>.  <a href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#ab6e2df08333381b54765a90195ef8028">More...</a><br /></td></tr>
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+</table><table class="memberdecls">
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+<tr class="separator:ac9d3a341b9ed09dc0bb6fa843a344659"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief    Constructor for BaseSurveillanceDeploy class.
+    
+The Base class for deploying the Surveillance system.
+It defines the default parameters, encompasses the calibration
+process, and defines the API for further development.
+
+@param[in]  imgSource       (callable) image source stream(s).
+@param[in]  intrinsic       camera intrinsic parameters.
+@param[in]  scene_interp    Scene interpreter instance.
+@param[in]  M_WtoC          (optional) world to camera extrinsic.
+@param[in]  M_WtoR          (optional) world to robot.
+@param[in]  params          (optional) parameters structure.
+
+Regarding the arguments,
+
+imgSource (Callable): The image source(s) that can get the camera
+  data in the following style (where status is a binary indicating
+  whether the camera data is fetched successfully): 
+
+  &gt; rgb, dep, status = imgSource()
+
+  Can pass None, which will disable the run API that deploy the
+  system on the connected camera.
+
+  The parameter instance params default to Params() if not provided.</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aff24747c99da434ec48af92530b4e0f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aff24747c99da434ec48af92530b4e0f9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"> None __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imgSource</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsic</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">scene.SceneInterpreterV1&#160;</td>
+          <td class="paramname"><em>scene_interpreter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoC</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoR</em> = <code><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a></code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a> &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8ee1a1f8129e1e7437c6d7412c15ee1c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ee1a1f8129e1e7437c6d7412c15ee1c">&#9670;&nbsp;</a></span>build()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def build </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a> &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>()</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">Builder for saving the calibration data in the local cache folder.
+
+NOTE: This function is not maintained, might contain bugs, and might be removed in the future. 
+It saves the data in the video, image, or numpy npz format.
+See below for more recent builders that save all the data in a rosbag.
+
+Args:
+    params (Params, optional):  The parameter passed. Defaults to Params().
+
+Returns:
+    _type_: _description_
+</pre> 
+</div>
+</div>
+<a id="aa7616a745363f770214a417ef80e7e06"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa7616a745363f770214a417ef80e7e06">&#9670;&nbsp;</a></span>buildFromRosbag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromRosbag </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Build the deployment runner instance from a store <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a> bag. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">bag_path</td><td>Rosbag file with full path. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">params</td><td>(<a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>, optional): Deployment parameters. Defaults to Params().</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1BaseSurveillanceDeploy.html">BaseSurveillanceDeploy</a></td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ab6e2df08333381b54765a90195ef8028"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab6e2df08333381b54765a90195ef8028">&#9670;&nbsp;</a></span>buildPub()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildPub </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a> &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bag_path</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Builder for publishing the calibration data to <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a>. </p>
+<p>Args: params (<a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>, optional): The deployment parameters. Defaults to Params(). If params.reCalibrate is False, then will read the rosbag files for the calibration data to build the system, then run on the camera data bag_path (str): The rosbag file path. Necessary if the params.reCalibrate is False. Defaults to None</p>
+<p>Returns: <em>type</em>: <em>description</em> </p>
+
+</div>
+</div>
+<a id="a0d5906ea66dea1bea82847c1c21b8a0b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d5906ea66dea1bea82847c1c21b8a0b">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">get the measure board
+
+return the measure board mask and the measure board img
+</pre> 
+</div>
+</div>
+<a id="a26f5316a06d27c357a696627987cfb15"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26f5316a06d27c357a696627987cfb15">&#9670;&nbsp;</a></span>postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite to put any pose process that is built on top of the scene interpreter her
+
+Args:
+    rgb (_type_): _description_
+    dep (_type_): _description_
+</pre> 
+</div>
+</div>
+<a id="a156ea13bc449d3f40b4c6772ccb3308c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a156ea13bc449d3f40b4c6772ccb3308c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle_postprocess</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e41e2d032b988fb4900169e014a99a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e41e2d032b988fb4900169e014a99a1">&#9670;&nbsp;</a></span>publish_activity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def publish_activity </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>char</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5dddbd1fc374295d2dde19668c501a91"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5dddbd1fc374295d2dde19668c501a91">&#9670;&nbsp;</a></span>publish_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def publish_data </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad22709b2e67308af35f55680d5a026e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad22709b2e67308af35f55680d5a026e0">&#9670;&nbsp;</a></span>run()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def run </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0848a525e23f9e10289ab7a6eeca2078"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0848a525e23f9e10289ab7a6eeca2078">&#9670;&nbsp;</a></span>save_data()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def save_data </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9943b4e5a95a4484307697f222afb386"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9943b4e5a95a4484307697f222afb386">&#9670;&nbsp;</a></span>vis()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4011d7c5165981a73f2bf338cd832df3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4011d7c5165981a73f2bf338cd832df3">&#9670;&nbsp;</a></span>vis_input()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_input </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Visualize the input.
+
+Args:
+    rgb: The rgb image.
+    dep: The depth image.
+</pre> 
+</div>
+</div>
+<a id="a1203240d3543fdf27b5c9c13b96c28db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1203240d3543fdf27b5c9c13b96c28db">&#9670;&nbsp;</a></span>vis_near_hand_puzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_near_hand_puzzles </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@ brief Visualize the puzzle pices location near the hand.
+</pre> 
+</div>
+</div>
+<a id="a4073583dad3e80815b4ba3d0554d7389"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4073583dad3e80815b4ba3d0554d7389">&#9670;&nbsp;</a></span>vis_results()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_results </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite to put any result-related visualization in this function.
+Note: Maybe it is better to put the visualization function here.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a05142afe49d12fb1fe7a1f95e3f3b8fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05142afe49d12fb1fe7a1f95e3f3b8fe">&#9670;&nbsp;</a></span>act_codebook</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_codebook</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af558571ee29f0d02c125630113929fc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af558571ee29f0d02c125630113929fc5">&#9670;&nbsp;</a></span>act_mark_cache</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_mark_cache</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad4caaa29e5e3a99351f952a02ed6c1e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4caaa29e5e3a99351f952a02ed6c1e2">&#9670;&nbsp;</a></span>act_mark_pub</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_mark_pub</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af590827d3047be81c6604bd5e67a6c8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af590827d3047be81c6604bd5e67a6c8c">&#9670;&nbsp;</a></span>BEV_mat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BEV_mat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abbf2a98f2bfcb7d9679e49ae8667f615"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbf2a98f2bfcb7d9679e49ae8667f615">&#9670;&nbsp;</a></span>depth_scale</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth_scale</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a86eea3ffa9b2745eb0317f43d605e5eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86eea3ffa9b2745eb0317f43d605e5eb">&#9670;&nbsp;</a></span>hTracker</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hTracker</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac9539a5e0167bf4cd9d1f748d4138b6e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9539a5e0167bf4cd9d1f748d4138b6e">&#9670;&nbsp;</a></span>humanAndhumanImg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">humanAndhumanImg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/deployment/<a class="el" href="Base_8py.html">Base.py</a></li>
+</ul>
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diff --git a/docs/classSurveillance_1_1deployment_1_1Base_1_1Params-members.html b/docs/classSurveillance_1_1deployment_1_1Base_1_1Params-members.html
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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="headertitle">
+<div class="title">Params Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a2b73af84143b7d77149c735c95df0790">__contains__</a>(self, att_name)</td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a41ab4b8b4e6b05e8489555b1bbc7f845">array</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a61569f2965b7a369eb10b6d75d410d11">int</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#af394f69c5e8e850836778c3b430b4368">set_from_dict</a>(self, pdict)</td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#aa443eb89abb7ac71f5cb06b4898e8e76">set_from_yaml</a>(self, yfile)</td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td><td class="entry"><a class="el" href="classSurveillance_1_1deployment_1_1Base_1_1Params.html">Params</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classSurveillance_1_1deployment_1_1Base_1_1Params.html b/docs/classSurveillance_1_1deployment_1_1Base_1_1Params.html
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+   <div id="projectname">IVALab Python Libraries
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1deployment_1_1Base_1_1Params-members.html">List of all members</a>  </div>
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+<p>The calibration topics deployment - camera info. </p>
+<p>The test data topics. </p>
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+<tr class="memitem:ac5a4637b6768a97597eeae099cc88607"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html#ac5a4637b6768a97597eeae099cc88607">no_act_label</a> = &quot;No Activity&quot;</td></tr>
+<tr class="separator:ac5a4637b6768a97597eeae099cc88607"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abc1b785959b47505de72feabab160402"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc1b785959b47505de72feabab160402">&#9670;&nbsp;</a></span>__init__()</h2>
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+<div class="memitem">
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+        <tr>
+          <td class="memname"> None __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad8a859a39295b26d9f586354a44912ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad8a859a39295b26d9f586354a44912ce">&#9670;&nbsp;</a></span>decode()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def decode </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acd22528d47392c4fde6067d0ce914bf5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd22528d47392c4fde6067d0ce914bf5">&#9670;&nbsp;</a></span>get_activity()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_activity </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a05142afe49d12fb1fe7a1f95e3f3b8fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a05142afe49d12fb1fe7a1f95e3f3b8fe">&#9670;&nbsp;</a></span>act_codebook</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">act_codebook</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a54f1d8208fc901f0d590d129e0fe4af7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54f1d8208fc901f0d590d129e0fe4af7">&#9670;&nbsp;</a></span>activity</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">activity</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab0ff009151f74f53abbcf6d6e8efce13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab0ff009151f74f53abbcf6d6e8efce13">&#9670;&nbsp;</a></span>key_cache</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">key_cache</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac5a4637b6768a97597eeae099cc88607"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5a4637b6768a97597eeae099cc88607">&#9670;&nbsp;</a></span>no_act_label</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">string no_act_label = &quot;No Activity&quot;</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/deployment/<a class="el" href="activity__record_8py.html">activity_record.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a39000bad924dc8be25adea30359eab50">__init__</a>(self, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">buildCalibratedFromImage</a>(theData, isRGBD=False)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</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_1BlackWorkMat_1_1Calibrator.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a>(self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a>(self, theMask)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<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: Calibrator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:a39000bad924dc8be25adea30359eab50"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save results of calibration to HDF5 file.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a354fd39c945e2ad77c9d3b8145c17752"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a> (self, theMask)</td></tr>
+<tr class="separator:a354fd39c945e2ad77c9d3b8145c17752"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4cdb1e047635e92559744e18f3128d44"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">buildCalibratedFromImage</a> (theData, isRGBD=False)</td></tr>
+<tr class="memdesc:a4cdb1e047635e92559744e18f3128d44"><td class="mdescLeft">&#160;</td><td class="mdescRight">def saveConfig(self, outFile): pass  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a4cdb1e047635e92559744e18f3128d44">More...</a><br /></td></tr>
+<tr class="separator:a4cdb1e047635e92559744e18f3128d44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td></tr>
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+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Calibrator.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a39000bad924dc8be25adea30359eab50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39000bad924dc8be25adea30359eab50">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for black workspace mat detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4cdb1e047635e92559744e18f3128d44"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cdb1e047635e92559744e18f3128d44">&#9670;&nbsp;</a></span>buildCalibratedFromImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildCalibratedFromImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theData</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isRGBD</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>def saveConfig(self, outFile): pass </p>
+
+</div>
+</div>
+<a id="a66c8e08d55474793fd8fc667b0c22d7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66c8e08d55474793fd8fc667b0c22d7f">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;foreground&#160;objects&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save results of calibration to HDF5 file. </p>
+<p>The save process saves the necessary information to instantiate a <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> class object. Stored in root of fPtr.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a354fd39c945e2ad77c9d3b8145c17752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a354fd39c945e2ad77c9d3b8145c17752">&#9670;&nbsp;</a></span>setMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0e5a69462b4b56725dafea0e8ac694c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5a69462b4b56725dafea0e8ac694c3">&#9670;&nbsp;</a></span>imFG</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imFG</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: CfgDetector Class Reference</title>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>Configuration instance for glove tracking detector.  
+ <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgDetector:</div>
+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1CfgDetector.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for glove tracking detector. </p>
+<p><br  />
+ </p>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
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+          <td class="paramtype">&#160;</td>
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+          <td></td><td></td>
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+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene (black mat) detector. </p>
+
+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
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+</a> 1.8.17
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">__init__</a>(self, processors=None, bgMod=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">buildFromCfg</a>(theConfig, processor=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</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_1BlackWorkMat_1_1Detector.html#a4498702614e2397a06ca0cd53000b0d3">calibrate2config</a>(theStream, outFile, isRGBD=False)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a>(self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4ae90a1593014fd597a8426210ac7174">loadFrom</a>(fPtr, processor=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a>(self, theMask)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html
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+<title>IVALab Python Libraries: Detector Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detector_inherit__map" id="Detector_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,84,107"/>
+<area shape="rect" title=" " alt="" coords="6,5,83,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
+<map name="Detector_coll__map" id="Detector_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,84,107"/>
+<area shape="rect" title=" " alt="" coords="6,5,83,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a565d1ccd606c961b08b473cfe47c79ec"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">__init__</a> (self, processors=None, bgMod=None)</td></tr>
+<tr class="memdesc:a565d1ccd606c961b08b473cfe47c79ec"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a565d1ccd606c961b08b473cfe47c79ec">More...</a><br /></td></tr>
+<tr class="separator:a565d1ccd606c961b08b473cfe47c79ec"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a66c8e08d55474793fd8fc667b0c22d7f">display_cv</a> (self, I, ratio=None, window_name=&quot;foreground objects&quot;)</td></tr>
+<tr class="separator:a66c8e08d55474793fd8fc667b0c22d7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ae90a1593014fd597a8426210ac7174"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4ae90a1593014fd597a8426210ac7174">loadFrom</a> (fPtr, processor=None)</td></tr>
+<tr class="separator:a4ae90a1593014fd597a8426210ac7174"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a354fd39c945e2ad77c9d3b8145c17752"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a354fd39c945e2ad77c9d3b8145c17752">setMask</a> (self, theMask)</td></tr>
+<tr class="separator:a354fd39c945e2ad77c9d3b8145c17752"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab474e90d2a82b1af880bcb8efe85e65b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">buildFromCfg</a> (theConfig, processor=None)</td></tr>
+<tr class="memdesc:ab474e90d2a82b1af880bcb8efe85e65b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Build an inCorner instance from an algorithm configuration instance.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#ab474e90d2a82b1af880bcb8efe85e65b">More...</a><br /></td></tr>
+<tr class="separator:ab474e90d2a82b1af880bcb8efe85e65b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4498702614e2397a06ca0cd53000b0d3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a4498702614e2397a06ca0cd53000b0d3">calibrate2config</a> (theStream, outFile, isRGBD=False)</td></tr>
+<tr class="separator:a4498702614e2397a06ca0cd53000b0d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a0e5a69462b4b56725dafea0e8ac694c3">imFG</a></td></tr>
+<tr class="separator:a0e5a69462b4b56725dafea0e8ac694c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a565d1ccd606c961b08b473cfe47c79ec"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a565d1ccd606c961b08b473cfe47c79ec">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bgMod</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab474e90d2a82b1af880bcb8efe85e65b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab474e90d2a82b1af880bcb8efe85e65b">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Build an inCorner instance from an algorithm configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">bgDet</td><td>Instantiated inCorner background model detector. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4498702614e2397a06ca0cd53000b0d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4498702614e2397a06ca0cd53000b0d3">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isRGBD</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a66c8e08d55474793fd8fc667b0c22d7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66c8e08d55474793fd8fc667b0c22d7f">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;foreground&#160;objects&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ae90a1593014fd597a8426210ac7174"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ae90a1593014fd597a8426210ac7174">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> to given HDF5 file. </p>
+<p>The save process saves the necessary information to re-instantiate a <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1Detector.html">Detector</a> class object. Stored in root of fPtr.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a354fd39c945e2ad77c9d3b8145c17752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a354fd39c945e2ad77c9d3b8145c17752">&#9670;&nbsp;</a></span>setMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0e5a69462b4b56725dafea0e8ac694c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5a69462b4b56725dafea0e8ac694c3">&#9670;&nbsp;</a></span>imFG</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imFG</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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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: InstPuzzlePerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPuzzlePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the Puzzle pieces perceiver.  
+ <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1InstPuzzlePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the Puzzle pieces perceiver. </p>
+<p>It only works to capture the puzzle pieces and assumes there are no distractor objects. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html b/docs/classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PuzzlePerceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">buildWithBasicTracker</a>(buildConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a>(self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: PuzzlePerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+ </tr>
+ </tbody>
+</table>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1BlackWorkMat.html">BlackWorkMat</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html">PuzzlePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PuzzlePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PuzzlePerceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver__inherit__graph.png" border="0" usemap="#PuzzlePerceiver_inherit__map" alt="Inheritance graph"/></div>
+<map name="PuzzlePerceiver_inherit__map" id="PuzzlePerceiver_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,131,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,109,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PuzzlePerceiver:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver__coll__graph.png" border="0" usemap="#PuzzlePerceiver_coll__map" alt="Collaboration graph"/></div>
+<map name="PuzzlePerceiver_coll__map" id="PuzzlePerceiver_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,131,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,109,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a0c2c14a208de7aa36b7a38fb491a0b36"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a> (self, perCfg=None, perInst=None)</td></tr>
+<tr class="separator:a0c2c14a208de7aa36b7a38fb491a0b36"><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="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt parts of the process based on measurements and corrections.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Correct the estimated state based on measured and predicted.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a152ab1293e97cde9ea3dca2b8627fa19"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a> (self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td></tr>
+<tr class="separator:a152ab1293e97cde9ea3dca2b8627fa19"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return state structure with no information.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current state structure.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recover track point or track frame based on detector + trackPointer output.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predict next measurement, if applicable.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">buildWithBasicTracker</a> (buildConfig)</td></tr>
+<tr class="memdesc:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a stored detector configuration, build out a puzzle perceiver with multi-centroid tracking.  <a href="classSurveillance_1_1layers_1_1BlackWorkMat_1_1PuzzlePerceiver.html#a8d82af2a1c4cc2d819f0468bc3deb539">More...</a><br /></td></tr>
+<tr class="separator:a8d82af2a1c4cc2d819f0468bc3deb539"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0c2c14a208de7aa36b7a38fb491a0b36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c2c14a208de7aa36b7a38fb491a0b36">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perInst</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt parts of the process based on measurements and corrections. </p>
+
+</div>
+</div>
+<a id="a8d82af2a1c4cc2d819f0468bc3deb539"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d82af2a1c4cc2d819f0468bc3deb539">&#9670;&nbsp;</a></span>buildWithBasicTracker()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildWithBasicTracker </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>buildConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Given a stored detector configuration, build out a puzzle perceiver with multi-centroid tracking. </p>
+<p>Most of the configuration can default to standard settings or to hard coded puzzle settings (that should never be changed). </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Correct the estimated state based on measured and predicted. </p>
+<p>At least if there is a filter defined. </p>
+
+</div>
+</div>
+<a id="a152ab1293e97cde9ea3dca2b8627fa19"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a152ab1293e97cde9ea3dca2b8627fa19">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;puzzle&#160;pieces&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return state structure with no information. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The state structure with no content. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns the current state structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">cstate</td><td>The current state structure. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Recover track point or track frame based on detector + trackPointer output. </p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Predict next measurement, if applicable. </p>
+<p>Method overrides base, which does nothing. This is because the measure function operates differently.</p>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000018">Todo:</a></b></dt><dd>Later on, there should be a code review and some unification of code and intent should be done. </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="BlackWorkMat_8py.html">BlackWorkMat.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CalibGloveByColor Member List</div>  </div>
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+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">detector::inImage::fgImage.load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html
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+<title>IVALab Python Libraries: CalibGloveByColor Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html">CalibGloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CalibGloveByColor Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for CalibGloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor__inherit__graph.png" border="0" usemap="#CalibGloveByColor_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CalibGloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor__coll__graph.png" border="0" usemap="#CalibGloveByColor_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="memdesc:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return empty debug state information.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">More...</a><br /></td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><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_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="memdesc:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest debug state information.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">More...</a><br /></td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="memdesc:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide information about the current class implementation.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">More...</a><br /></td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated Detector to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1inImage_1_1fgImage"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1inImage_1_1fgImage')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1inImage_1_1fgImage.html">fgImage</a></td></tr>
+<tr class="memitem:af6c7a3f709feb7b34c6dae656b07899a inherit pub_methods_classdetector_1_1inImage_1_1fgImage"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html#af6c7a3f709feb7b34c6dae656b07899a">__init__</a> (self, <a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a>=None)</td></tr>
+<tr class="separator:af6c7a3f709feb7b34c6dae656b07899a inherit pub_methods_classdetector_1_1inImage_1_1fgImage"><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>
+<tr class="memitem:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">__init__</a> (self)</td></tr>
+<tr class="memdesc:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate a detector <a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> activity class object.  <a href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">More...</a><br /></td></tr>
+<tr class="separator:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a> (self, fileName)</td></tr>
+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4432ad5c680b2372adf2f56998516c6d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td></tr>
+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">GloveByColor</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return empty debug state information. </p>
+<p>Useful if contents needed beforehand. </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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 from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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 from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">GloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector 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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">GloveByColor</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">CfgGloveDetector Member List</div>  </div>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1CfgGloveDetector.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+  <div class="summary">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for glove tracking perceiver. </p>
+<p>Designed to work for processing subsets (detect, track, etc). </p>
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+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
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+          <td>(</td>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene configuration object. </p>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">AlgConfig</a>.</p>
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
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+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
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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: DetectorState Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetectorState Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">GloveByColor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html#af6c7a3f709feb7b34c6dae656b07899a">detector::inImage::fgImage.__init__</a>(self, processor=None)</td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html">fgImage</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">detector::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</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_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">detector::inImage::fgImage.load</a>(fileName, relpath=None)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td><td class="entry"><a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a>(self, fileName)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: GloveByColor Class 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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html">GloveByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">GloveByColor Class Reference<div class="ingroups"><a class="el" href="group__Surveillance.html">Surveillance</a></div></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a> detector by color only.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for GloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor__inherit__graph.png" border="0" usemap="#GloveByColor_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for GloveByColor:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor__coll__graph.png" border="0" usemap="#GloveByColor_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="memdesc:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return empty debug state information.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">More...</a><br /></td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><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>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="memdesc:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest debug state information.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">More...</a><br /></td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="memdesc:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide information about the current class implementation.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">More...</a><br /></td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated Detector to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1inImage_1_1fgImage"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1inImage_1_1fgImage')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1inImage_1_1fgImage.html">fgImage</a></td></tr>
+<tr class="memitem:af6c7a3f709feb7b34c6dae656b07899a inherit pub_methods_classdetector_1_1inImage_1_1fgImage"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1fgImage.html#af6c7a3f709feb7b34c6dae656b07899a">__init__</a> (self, <a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a>=None)</td></tr>
+<tr class="separator:af6c7a3f709feb7b34c6dae656b07899a inherit pub_methods_classdetector_1_1inImage_1_1fgImage"><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>
+<tr class="memitem:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">__init__</a> (self)</td></tr>
+<tr class="memdesc:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate a detector <a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> activity class object.  <a href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">More...</a><br /></td></tr>
+<tr class="separator:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a> (self, fileName)</td></tr>
+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GloveByColor.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a> detector by color only. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#acd24f3a10491396e0947eb17e4ccd5fe">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a72fbf2f30085967560d93851fdf9fe6b">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad1017975e2cf3f6aad2eb699e576acfb">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4b9eb4438bf990362c9afce4a00562e3">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return empty debug state information. </p>
+<p>Useful if contents needed beforehand. </p>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ae41cd8a9eb2f382e6706d5418bee3c83">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a9ee90969e62195d66d515fcdaf56bf6a">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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 from <a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a86e33c39d3c54a6ebba54b5a0ebf9787">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a18bb39f68bce281f0f163fd96bb09a8c">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a18bb39f68bce281f0f163fd96bb09a8c">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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 from <a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">inImage</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4cbc8f16a0b6cd68f685de5561a0c618">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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 from <a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">Base</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">inImage</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#ad17eaba369e442d6a16fa52f3cb41762">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a4dd85ce87569585c592b0dd0638c0dfd">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a15b5b23376c42a855847f9b74cdc07b3">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector 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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">Base</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1CalibGloveByColor.html#a2d052ae6ae0dc395ed468285493dbc4c">CalibGloveByColor</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a980ec3519da6034d0c65e65a9dfe4a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a980ec3519da6034d0c65e65a9dfe4a73">&#9670;&nbsp;</a></span>imGlove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imGlove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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+ <tr style="height: 56px;">
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+  <ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">GlovePointer Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: GlovePointer Class 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>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html">GlovePointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">GlovePointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for GlovePointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer__inherit__graph.png" border="0" usemap="#GlovePointer_inherit__map" alt="Inheritance graph"/></div>
+<map name="GlovePointer_inherit__map" id="GlovePointer_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,112,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,90,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for GlovePointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer__coll__graph.png" border="0" usemap="#GlovePointer_coll__map" alt="Collaboration graph"/></div>
+<map name="GlovePointer_coll__map" id="GlovePointer_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,112,107"/>
+<area shape="rect" title=" " alt="" coords="27,5,90,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae91dc874e20b1447436644d006da91e9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><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_1GlovePointer.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1GlovePointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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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: InstGloveDetector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html">InstGloveDetector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGloveDetector Class Reference</div>  </div>
+</div><!--header-->
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+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGloveDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstGlovePerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html">InstGlovePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGlovePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1InstGlovePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html b/docs/classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PerceiveGloveBC Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a8d45eb075e342eaee415087ca2aa40f9">haveState</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#ad56139229f38b159ff12a57572163955">tMeas</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1GloveByColor.html">GloveByColor</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html">PerceiveGloveBC</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PerceiveGloveBC Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Perceiver based on detecting glove by color.  
+ <a href="classSurveillance_1_1layers_1_1GloveByColor_1_1PerceiveGloveBC.html#details">More...</a></p>
+<div class="dynheader">
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Perceiver based on detecting glove by color. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        <tr>
+          <td class="paramkey"></td>
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+          <td class="paramtype">&#160;</td>
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+        </tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
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+          <td>(</td>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thefile</em>, </td>
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+        <tr>
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+          <td class="paramtype">&#160;</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
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+          <td>(</td>
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+          <td>(</td>
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+          <td class="paramname"><em>self</em></td><td>)</td>
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+        </tr>
+        <tr>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
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+        <tr>
+          <td class="paramkey"></td>
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+<a id="a88bf86be51ede2d7c2f01f43fd319476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
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+          <td class="memname">tMeas</td>
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+
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+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="GloveByColor_8py.html">GloveByColor.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html
new file mode 100644
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+++ b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html
@@ -0,0 +1,108 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a>(self, detCfg=None, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</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_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html
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index 00000000..c030c625
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<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: Calibrator Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Calibrator_inherit__map" id="Calibrator_inherit__map">
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+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html" title=" " alt="" coords="23,80,101,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</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_1Glove_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1Glove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1Glove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</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_1Glove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Detector.html
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+<title>IVALab Python Libraries: Detector Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
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+<area shape="rect" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html" title=" " alt="" coords="19,155,105,181"/>
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+<tr class="memitem:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1Glove_1_1Detector.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</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_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>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
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+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1Glove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a980ec3519da6034d0c65e65a9dfe4a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a980ec3519da6034d0c65e65a9dfe4a73">&#9670;&nbsp;</a></span>imGlove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imGlove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html">InstGlovePerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstGlovePerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1Glove_1_1InstGlovePerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1Perceiver-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</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_1Glove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1Perceiver-members.html">List of all members</a>  </div>
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+          <td>(</td>
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+          <td class="memname">def predict </td>
+          <td>(</td>
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+          <td></td>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer-members.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1Glove.html">Glove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a>(self, iState=None, trackCfg=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html b/docs/classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: TrackPointer Class 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+ </tbody>
+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointer:</div>
+<div class="dyncontent">
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,80,108,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,88,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
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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="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1Glove_1_1TrackPointer.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="Glove_8py.html">Glove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Surveillance::layers::HoveringGlove::Detector.measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html
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+<title>IVALab Python Libraries: Calibrator Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
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+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</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="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</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_1HoveringGlove_1_1Detector.html">Detector</a> to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<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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+<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4432ad5c680b2372adf2f56998516c6d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td></tr>
+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html">CfgHandDetector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgHandDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration instance for glove tracking perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgHandDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector__inherit__graph.png" border="0" usemap="#CfgHandDetector_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Configuration instance for glove tracking perceiver." alt="" coords="5,155,140,181"/>
+<area shape="rect" href="classdetector_1_1Configuration_1_1AlgConfig.html" title=" " alt="" coords="30,80,115,107"/>
+<area shape="rect" title=" " alt="" coords="33,5,112,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgHandDetector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector__coll__graph.png" border="0" usemap="#CfgHandDetector_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><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_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate a puzzle scene configuration object.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><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_1CfgHandDetector.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration instance for glove tracking perceiver. </p>
+<p>Designed to work for processing subsets (detect, track, etc). </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Instantiate a puzzle scene configuration object. </p>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">AlgConfig</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector__coll__graph.map b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1CfgHandDetector__coll__graph.map
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+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</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_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html
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+<title>IVALab Python Libraries: Detector Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><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>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><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>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><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>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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"><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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><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#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, I, M=None)</td></tr>
+<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_1HoveringGlove_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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"><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>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for layer(s). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for layer(s). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>Does nothing. There may nto be enough information to know how to proceed. </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Optional mask indicate candidate hand regions (true) but with presumption that there may false positives. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b97ad3bcdde2c4ec043b039b56cbfab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b97ad3bcdde2c4ec043b039b56cbfab">&#9670;&nbsp;</a></span>imHand</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">imHand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState-members.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">DetectorState Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html
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+<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: DetectorState Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html">DetectorState</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetectorState Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1DetectorState.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
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+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+<title>IVALab Python Libraries: InstDetector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html">InstDetector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstDetector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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
+</small></address>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: InstPerceiver Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html">InstPerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1InstPerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+</table></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
+</small></address>
+</body>
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+<title>IVALab Python Libraries: Perceiver Class Reference</title>
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+  <div class="summary">
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+        <tr>
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+        </tr>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver__coll__graph.map b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver__coll__graph.map
new file mode 100644
index 00000000..896e3c4f
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1Perceiver__coll__graph.map
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+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
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+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html b/docs/classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html
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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: TrackPointer Class 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringGlove.html">HoveringGlove</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer__inherit__graph.png" border="0" usemap="#TrackPointer_inherit__map" alt="Inheritance graph"/></div>
+<map name="TrackPointer_inherit__map" id="TrackPointer_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,108,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,88,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
+<map name="TrackPointer_coll__map" id="TrackPointer_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,108,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,88,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringGlove_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
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+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
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+          <td>(</td>
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+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
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+  </table>
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+          <td>(</td>
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+          <td></td>
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+          <td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
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+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
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+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringGlove_8py.html">HoveringGlove.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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new file mode 100644
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+
+<div id="nav-path" class="navpath">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a>(self, detCfg=None, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</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_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">Surveillance::layers::HoveringHand::Detector.measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
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+<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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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Calibrator Class 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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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
+<map name="Calibrator_inherit__map" id="Calibrator_inherit__map">
+<area shape="rect" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" title=" " alt="" coords="23,80,101,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
+<map name="Calibrator_coll__map" id="Calibrator_coll__map">
+<area shape="rect" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html" title=" " alt="" coords="23,80,101,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</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="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
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+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><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="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1 inherit pub_static_methods_classSurveillance_1_1layers_1_1HoveringHand_1_1Detector"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detector</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">Detector</a>.</p>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">Detector</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html">CfgHandDetector</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector.html">CfgHandDetector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector-members.html">List of all members</a>  </div>
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+<p>Instantiate a puzzle scene configuration object. </p>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">AlgConfig</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.map b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1CfgHandDetector__coll__graph.map
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+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">DetStateHand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1DetStateHand.html#abd7045ad8553e16c50a967b4d48b7f6b">any</a></td></tr>
+<tr class="separator:abd7045ad8553e16c50a967b4d48b7f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abd7045ad8553e16c50a967b4d48b7f6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd7045ad8553e16c50a967b4d48b7f6b">&#9670;&nbsp;</a></span>any</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">any</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html
new file mode 100644
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--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detector Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a>(self, detCfg=None, detInst=None, processors=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a>(theStream, outFile, initModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</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_1HoveringHand_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a19b46941fa572f13c44c35eb65d65fee">measure</a>(self, I, M=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Detector Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detector Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector__inherit__graph.png" border="0" usemap="#Detector_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detector:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector__coll__graph.png" border="0" usemap="#Detector_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="23,80,101,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><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>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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"><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>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><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#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, I, M=None)</td></tr>
+<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>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><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>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<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="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0d687a3718e25495bbfbdcf67f36d1"><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#aad0d687a3718e25495bbfbdcf67f36d1">calibrate2config</a> (theStream, outFile, initModel=None)</td></tr>
+<tr class="separator:aad0d687a3718e25495bbfbdcf67f36d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ad2256458892609d0533df5d72a7257ad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#ad2256458892609d0533df5d72a7257ad">config</a></td></tr>
+<tr class="separator:ad2256458892609d0533df5d72a7257ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a6b97ad3bcdde2c4ec043b039b56cbfab">imHand</a></td></tr>
+<tr class="separator:a6b97ad3bcdde2c4ec043b039b56cbfab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Detector.html">Detector</a> configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for layer(s). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for layer(s). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>Does nothing. There may nto be enough information to know how to proceed. </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="aad0d687a3718e25495bbfbdcf67f36d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad0d687a3718e25495bbfbdcf67f36d1">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Optional mask indicate candidate hand regions (true) but with presumption that there may false positives. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ad2256458892609d0533df5d72a7257ad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2256458892609d0533df5d72a7257ad">&#9670;&nbsp;</a></span>config</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">config</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b97ad3bcdde2c4ec043b039b56cbfab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b97ad3bcdde2c4ec043b039b56cbfab">&#9670;&nbsp;</a></span>imHand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imHand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html">InstDetector</a></li>  </ul>
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+  <div class="headertitle">
+<div class="title">InstDetector Class Reference</div>  </div>
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+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
+ <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstDetector.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+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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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html
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+<title>IVALab Python Libraries: InstPerceiver Class 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>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html">InstPerceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">InstPerceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver.  
+ <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1InstPerceiver.html#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
+</div><hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="MSearchSelectWindow"
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#aa21d87aa1e4d13b5008be4f0e49ed31f">buildFromFile</a>(thefile, CfgExtra=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a63366f4d6cb65a7a04c5446d0fd35b8d">getDebugState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1Perceiver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Perceiver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+        </tr>
+        <tr>
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+          <td>(</td>
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+          <td>(</td>
+          <td class="paramtype">&#160;</td>
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+
+<div class="memitem">
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+        <tr>
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+          <td>(</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
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+
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+<hr/>The documentation for this class was generated from the following file:<ul>
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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: Member List</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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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a>(self, iState=None, trackCfg=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</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_1HoveringHand_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html b/docs/classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: TrackPointer Class 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>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1HoveringHand.html">HoveringHand</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html">TrackPointer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer__inherit__graph.png" border="0" usemap="#TrackPointer_inherit__map" alt="Inheritance graph"/></div>
+<map name="TrackPointer_inherit__map" id="TrackPointer_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,108,107"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TrackPointer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer__coll__graph.png" border="0" usemap="#TrackPointer_coll__map" alt="Collaboration graph"/></div>
+<map name="TrackPointer_coll__map" id="TrackPointer_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,108,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,88,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><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="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointer.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
+<tr class="separator:a75845c24a43617eadc8749a68100a0b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1TrackPointer.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1TrackPointer.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointer.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="memdesc:ad17eaba369e442d6a16fa52f3cb41762"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply detection to the source image pass.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a187cca46ab69a66cdff777315459c07c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1HoveringHand_1_1TrackPointer.html#a187cca46ab69a66cdff777315459c07c">hand</a></td></tr>
+<tr class="separator:a187cca46ab69a66cdff777315459c07c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="HoveringHand_8py.html">HoveringHand.py</a></li>
+</ul>
+</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
+</small></address>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Calibrator Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a>(self, detCfg=None, processors=None, detModel=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a>(theConfig)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a>(theStream, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">imPuzzle</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4432ad5c680b2372adf2f56998516c6d">phase</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a>(self, outFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a>(self, fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></td><td class="entry"></td></tr>
+</table></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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+<title>IVALab Python Libraries: Calibrator Class Reference</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html">Calibrator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Calibrator Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator__inherit__graph.png" border="0" usemap="#Calibrator_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html" title=" " alt="" coords="19,80,105,107"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Calibrator:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator__coll__graph.png" border="0" usemap="#Calibrator_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html" title=" " alt="" coords="19,80,105,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1892c36c1691b7086e9616db75e0560c"><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_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">__init__</a> (self, detCfg=None, processors=None, detModel=None)</td></tr>
+<tr class="memdesc:a1892c36c1691b7086e9616db75e0560c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">More...</a><br /></td></tr>
+<tr class="separator:a1892c36c1691b7086e9616db75e0560c"><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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a> (self)</td></tr>
+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><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_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><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_1Calibrator.html#a6a60d7ad8210bf5e291e5e8a7fdf51b1">saveConfig</a> (self, outFile)</td></tr>
+<tr class="separator:a6a60d7ad8210bf5e291e5e8a7fdf51b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Save the instantiated Detector to given HDF5 file.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td></tr>
+<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>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4432ad5c680b2372adf2f56998516c6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c23786b0c27aa484eabaa2977a62abb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td></tr>
+<tr class="separator:a9c23786b0c27aa484eabaa2977a62abb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a024af1a626c91739b2b9872394bfde01 inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="memdesc:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">First, perform any specified pre-processing.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">More...</a><br /></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73 inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aaaa7b7bb05fd17f2488dbaa7663ecb11 inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9c23786b0c27aa484eabaa2977a62abb inherit pub_attribs_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8 inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af883f30b0307ace54b0bb0c4970e62bf inherit pub_static_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#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a> (theStream, outFile)</td></tr>
+<tr class="separator:af883f30b0307ace54b0bb0c4970e62bf inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_static_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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8 inherit pub_static_methods_classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1892c36c1691b7086e9616db75e0560c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1892c36c1691b7086e9616db75e0560c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detModel</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detModel</td><td>Detection models for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">Detectors</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ae41cd8a9eb2f382e6706d5418bee3c83">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4cbc8f16a0b6cd68f685de5561a0c618">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad17eaba369e442d6a16fa52f3cb41762">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4dd85ce87569585c592b0dd0638c0dfd">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a15b5b23376c42a855847f9b74cdc07b3">Detectors</a>.</p>
+
+</div>
+</div>
+<a id="a6a60d7ad8210bf5e291e5e8a7fdf51b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a60d7ad8210bf5e291e5e8a7fdf51b1">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector to given HDF5 file. </p>
+<p>The save process saves the necessary information to re-instantiate a <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a> class object.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a2d052ae6ae0dc395ed468285493dbc4c">Detectors</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4432ad5c680b2372adf2f56998516c6d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4432ad5c680b2372adf2f56998516c6d">&#9670;&nbsp;</a></span>phase</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">phase</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9c23786b0c27aa484eabaa2977a62abb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c23786b0c27aa484eabaa2977a62abb">&#9670;&nbsp;</a></span>workspace</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">workspace</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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+</div>
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+  <div class="headertitle">
+<div class="title">CfgPuzzleScene Member List</div>  </div>
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+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html">CfgPuzzleScene</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene.html">CfgPuzzleScene</a></td><td class="entry"></td></tr>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1CfgPuzzleScene-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgPuzzleScene Class Reference</div>  </div>
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+<p>Configuration instance for Puzzle Scene perceiver.  
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+
+</div>
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+          <td>(</td>
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+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors-members.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+
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+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Detectors Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a>(inFile)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</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_1PuzzleScene_1_1Detectors.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a>(fPtr)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></td><td class="entry"></td></tr>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Detectors Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Detectors Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Detectors:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors__inherit__graph.png" border="0" usemap="#Detectors_inherit__map" alt="Inheritance graph"/></div>
+<map name="Detectors_inherit__map" id="Detectors_inherit__map">
+<area shape="rect" title=" " alt="" coords="19,80,105,107"/>
+<area shape="rect" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html" title=" " alt="" coords="19,155,105,181"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Detectors:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors__coll__graph.png" border="0" usemap="#Detectors_coll__map" alt="Collaboration graph"/></div>
+<map name="Detectors_coll__map" id="Detectors_coll__map">
+<area shape="rect" title=" " alt="" coords="19,80,105,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,119,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:acd24f3a10491396e0947eb17e4ccd5fe"><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#acd24f3a10491396e0947eb17e4ccd5fe">__init__</a> (self, detCfg=None, detInst=None, processors=None)</td></tr>
+<tr class="memdesc:acd24f3a10491396e0947eb17e4ccd5fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene detector.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#acd24f3a10491396e0947eb17e4ccd5fe">More...</a><br /></td></tr>
+<tr class="separator:acd24f3a10491396e0947eb17e4ccd5fe"><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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a> (self)</td></tr>
+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b9eb4438bf990362c9afce4a00562e3"><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#a4b9eb4438bf990362c9afce4a00562e3">detect</a> (self, I)</td></tr>
+<tr class="memdesc:a4b9eb4438bf990362c9afce4a00562e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply predict, measure, correct process to source image.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4b9eb4438bf990362c9afce4a00562e3">More...</a><br /></td></tr>
+<tr class="separator:a4b9eb4438bf990362c9afce4a00562e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae41cd8a9eb2f382e6706d5418bee3c83"><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#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a> (self)</td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a"><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#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get and empty state to recover its basic structure.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787"><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#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c"><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#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<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="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608"><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>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4dd85ce87569585c592b0dd0638c0dfd"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c"><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"><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"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4bc897f28de1b0ff5eb52fdd240faae8"><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#a4bc897f28de1b0ff5eb52fdd240faae8">buildFromCfg</a> (theConfig)</td></tr>
+<tr class="memdesc:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate from stored configuration file (YAML).  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a4bc897f28de1b0ff5eb52fdd240faae8">More...</a><br /></td></tr>
+<tr class="separator:a4bc897f28de1b0ff5eb52fdd240faae8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af883f30b0307ace54b0bb0c4970e62bf"><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#af883f30b0307ace54b0bb0c4970e62bf">calibrate2config</a> (theStream, outFile)</td></tr>
+<tr class="separator:af883f30b0307ace54b0bb0c4970e62bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b2c40fd304f67a2698e1c9ce6b581e8"><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#a8b2c40fd304f67a2698e1c9ce6b581e8">load</a> (inFile)</td></tr>
+<tr class="separator:a8b2c40fd304f67a2698e1c9ce6b581e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a40fbe8949b277afd0fac64228851b12a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td></tr>
+<tr class="separator:a40fbe8949b277afd0fac64228851b12a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">imGlove</a></td></tr>
+<tr class="memdesc:a980ec3519da6034d0c65e65a9dfe4a73"><td class="mdescLeft">&#160;</td><td class="mdescRight">First, perform any specified pre-processing.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a980ec3519da6034d0c65e65a9dfe4a73">More...</a><br /></td></tr>
+<tr class="separator:a980ec3519da6034d0c65e65a9dfe4a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaaa7b7bb05fd17f2488dbaa7663ecb11"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#aaaa7b7bb05fd17f2488dbaa7663ecb11">imPuzzle</a></td></tr>
+<tr class="separator:aaaa7b7bb05fd17f2488dbaa7663ecb11"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a5d76cc2129e79ba1941d2cc2f53b9e8e">mask</a></td></tr>
+<tr class="separator:a5d76cc2129e79ba1941d2cc2f53b9e8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9c23786b0c27aa484eabaa2977a62abb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html#a9c23786b0c27aa484eabaa2977a62abb">workspace</a></td></tr>
+<tr class="separator:a9c23786b0c27aa484eabaa2977a62abb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acd24f3a10491396e0947eb17e4ccd5fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd24f3a10491396e0947eb17e4ccd5fe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detCfg</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>detInst</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processors</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene detector. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">detCfg</td><td>Detector configuration. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">processors</td><td>Image processors for the different layers. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">detInst</td><td>Detection instances for the different layers. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a1892c36c1691b7086e9616db75e0560c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a72fbf2f30085967560d93851fdf9fe6b">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4bc897f28de1b0ff5eb52fdd240faae8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4bc897f28de1b0ff5eb52fdd240faae8">&#9670;&nbsp;</a></span>buildFromCfg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromCfg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Instantiate from stored configuration file (YAML). </p>
+
+</div>
+</div>
+<a id="af883f30b0307ace54b0bb0c4970e62bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af883f30b0307ace54b0bb0c4970e62bf">&#9670;&nbsp;</a></span>calibrate2config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate2config </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStream</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>outFile</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad1017975e2cf3f6aad2eb699e576acfb">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4b9eb4438bf990362c9afce4a00562e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b9eb4438bf990362c9afce4a00562e3">&#9670;&nbsp;</a></span>detect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def detect </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply predict, measure, correct process to source image. </p>
+<p>Running detect alone elects not to adapt or update the underlying models. The static model is presumed to be sufficient and applied to the RGBD stream.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4b9eb4438bf990362c9afce4a00562e3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ae41cd8a9eb2f382e6706d5418bee3c83">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a9ee90969e62195d66d515fcdaf56bf6a">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a86e33c39d3c54a6ebba54b5a0ebf9787">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a18bb39f68bce281f0f163fd96bb09a8c">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4cbc8f16a0b6cd68f685de5561a0c618">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a8b2c40fd304f67a2698e1c9ce6b581e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b2c40fd304f67a2698e1c9ce6b581e8">&#9670;&nbsp;</a></span>load()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def load </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inFile</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a016768f0d8e23ac245a1b74b27021608"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a016768f0d8e23ac245a1b74b27021608">&#9670;&nbsp;</a></span>loadFrom()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def loadFrom </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>An RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#ad17eaba369e442d6a16fa52f3cb41762">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a4dd85ce87569585c592b0dd0638c0dfd">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Source RGB-D image (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a15b5b23376c42a855847f9b74cdc07b3">Calibrator</a>.</p>
+
+</div>
+</div>
+<a id="a2d052ae6ae0dc395ed468285493dbc4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d052ae6ae0dc395ed468285493dbc4c">&#9670;&nbsp;</a></span>saveTo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def saveTo </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fPtr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Save the instantiated Detector to given HDF5 file. </p>
+<p>The save process saves the necessary information to re-instantiate a <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Detectors.html">Detectors</a> class object.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fPtr</td><td>An HDF5 file point. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Calibrator.html#a2d052ae6ae0dc395ed468285493dbc4c">Calibrator</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a980ec3519da6034d0c65e65a9dfe4a73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a980ec3519da6034d0c65e65a9dfe4a73">&#9670;&nbsp;</a></span>imGlove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imGlove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>First, perform any specified pre-processing. </p>
+<dl class="section note"><dt>Note</dt><dd>Not dealing with pre-processor, but it might be important. </dd></dl>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000021">Todo:</a></b></dt><dd>Figure out how to use the improcessor. </dd></dl>
+<p>Second, invoke the layer detectors and post-processor to differentiate the actual semantic layers of the scene. The layer detectors should be considered as raw detectors that need further polishing to extract the desired semantic layer information. These layers are further processed by customized track pointers and filters. The post processing here is hard-coded rather than a private member function invocation. <br  />
+</p>
+<p>Shrink region associated to the surface just to clean up potential sources of confusion and promote recovery of puzzle pieces that are fully captured. Package the processed layers started with the glove. Next, remove any parts of the not surface layer that intersect with the expanded glove region. May remove adjacent puzzle piece area; that's OK since we can't rely on those pieces having been fully measured/captured. After that </p>
+
+</div>
+</div>
+<a id="aaaa7b7bb05fd17f2488dbaa7663ecb11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaaa7b7bb05fd17f2488dbaa7663ecb11">&#9670;&nbsp;</a></span>imPuzzle</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">imPuzzle</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d76cc2129e79ba1941d2cc2f53b9e8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d76cc2129e79ba1941d2cc2f53b9e8e">&#9670;&nbsp;</a></span>mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9c23786b0c27aa484eabaa2977a62abb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c23786b0c27aa484eabaa2977a62abb">&#9670;&nbsp;</a></span>workspace</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">workspace</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState-members.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1DetectorsState-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> perceiver. </p>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1InstPuzzleScene.html
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+  <div class="headertitle">
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+<p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter.  
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class for collecting visual processing methods needed by the <a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a> scene interpreter. </p>
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Perceiver Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a0c2c14a208de7aa36b7a38fb491a0b36">__init__</a>(self, perCfg=None, perInst=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a870baf8ed8c5e8ab984e620732abaa92">detect</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#a152ab1293e97cde9ea3dca2b8627fa19">display_cv</a>(self, I, ratio=None, window_name=&quot;puzzle pieces&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</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_1PuzzleScene_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html">Perceiver</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html b/docs/classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver.html
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+</div>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1Perceiver-members.html">List of all members</a>  </div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1PuzzleScene.html">PuzzleScene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">TrackPointers Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae91dc874e20b1447436644d006da91e9">__init__</a>(self, iState=None, trackCfg=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a>(self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a024af1a626c91739b2b9872394bfde01">glove</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">process</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html">TrackPointers</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+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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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: TrackPointers Class 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>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">TrackPointers Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for TrackPointers:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__inherit__graph.png" border="0" usemap="#TrackPointers_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for TrackPointers:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers__coll__graph.png" border="0" usemap="#TrackPointers_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,80,116,107"/>
+<area shape="rect" title=" " alt="" coords="29,5,92,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:ae91dc874e20b1447436644d006da91e9"><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_1TrackPointers.html#ae91dc874e20b1447436644d006da91e9">__init__</a> (self, iState=None, trackCfg=None)</td></tr>
+<tr class="memdesc:ae91dc874e20b1447436644d006da91e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for layered puzzle scene tracker.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ae91dc874e20b1447436644d006da91e9">More...</a><br /></td></tr>
+<tr class="separator:ae91dc874e20b1447436644d006da91e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a72fbf2f30085967560d93851fdf9fe6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adapt the layer detection models.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a72fbf2f30085967560d93851fdf9fe6b">More...</a><br /></td></tr>
+<tr class="separator:a72fbf2f30085967560d93851fdf9fe6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply correction process to the individual detectors.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75845c24a43617eadc8749a68100a0b4"><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_1TrackPointers.html#a75845c24a43617eadc8749a68100a0b4">display_cv</a> (self, I, ratio=None, window_name=&quot;trackpoints&quot;)</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
+<tr class="separator:a9ee90969e62195d66d515fcdaf56bf6a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618"><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_1TrackPointers.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#ad17eaba369e442d6a16fa52f3cb41762">More...</a><br /></td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a4dd85ce87569585c592b0dd0638c0dfd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate prediction of expected measurement.  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a4dd85ce87569585c592b0dd0638c0dfd">More...</a><br /></td></tr>
+<tr class="separator:a4dd85ce87569585c592b0dd0638c0dfd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a15b5b23376c42a855847f9b74cdc07b3"><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_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, I)</td></tr>
+<tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply entire predict to adapt process to source image(s).  <a href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
+<tr class="separator:a15b5b23376c42a855847f9b74cdc07b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a024af1a626c91739b2b9872394bfde01"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a024af1a626c91739b2b9872394bfde01">glove</a></td></tr>
+<tr class="separator:a024af1a626c91739b2b9872394bfde01"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1PuzzleScene_1_1TrackPointers.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae91dc874e20b1447436644d006da91e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae91dc874e20b1447436644d006da91e9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>iState</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackCfg</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for layered puzzle scene tracker. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">iState</td><td>Initial state of tracks. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">trackCfg</td><td>Trackpointer(s) configuration. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Adapt the layer detection models. </p>
+<p>There is no adaptation. </p>
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply correction process to the individual detectors. </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. <br  />
+ </p>
+
+</div>
+</div>
+<a id="a75845c24a43617eadc8749a68100a0b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75845c24a43617eadc8749a68100a0b4">&#9670;&nbsp;</a></span>display_cv()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_cv </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>window_name</em> = <code>&quot;trackpoints&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae41cd8a9eb2f382e6706d5418bee3c83"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae41cd8a9eb2f382e6706d5418bee3c83">&#9670;&nbsp;</a></span>emptyDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ee90969e62195d66d515fcdaf56bf6a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ee90969e62195d66d515fcdaf56bf6a">&#9670;&nbsp;</a></span>emptyState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def emptyState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get and empty state to recover its basic structure. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">estate</td><td>The empty state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a86e33c39d3c54a6ebba54b5a0ebf9787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86e33c39d3c54a6ebba54b5a0ebf9787">&#9670;&nbsp;</a></span>getDebug()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getDebug </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the complete detector state, which involves the states of the individual layer detectors. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">state</td><td>The detector state for each layer, by layer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4cbc8f16a0b6cd68f685de5561a0c618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4cbc8f16a0b6cd68f685de5561a0c618">&#9670;&nbsp;</a></span>info()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def info </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply detection to the source image pass. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+
+</div>
+</div>
+<a id="a15b5b23376c42a855847f9b74cdc07b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a15b5b23376c42a855847f9b74cdc07b3">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Apply entire predict to adapt process to source image(s). </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Layered detection image instance (structure/dataclass). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a024af1a626c91739b2b9872394bfde01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a024af1a626c91739b2b9872394bfde01">&#9670;&nbsp;</a></span>glove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">glove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a21ddfcf7ee9df16a820d99deb4fda263"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21ddfcf7ee9df16a820d99deb4fda263">&#9670;&nbsp;</a></span>pieces</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieces</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="PuzzleScene_8py.html">PuzzleScene.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Base Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1base.html">base</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1base_1_1Base-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1base_1_1Base__inherit__graph.png" border="0" usemap="#Base_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for Base:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1base_1_1Base__coll__graph.png" border="0" usemap="#Base_coll__map" alt="Collaboration graph"/></div>
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+<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:a7afbc264f25315fb6bff8f05dc5e9bd0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a> (self, theDetector, theTracker, trackFilter, <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
+<tr class="separator:a7afbc264f25315fb6bff8f05dc5e9bd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ade44fd4633027a680eae6c5c878b16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a> (self)</td></tr>
+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9e40ee63bae4d2b96a13889c1962ed7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a> (self, img=None, raw_detect=False, ax=None)</td></tr>
+<tr class="separator:ac9e40ee63bae4d2b96a13889c1962ed7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7e9f25e26eb3fd8a28187b4fee04f7e1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a> (self)</td></tr>
+<tr class="separator:a7e9f25e26eb3fd8a28187b4fee04f7e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adf1f4fd59e6ea40d38c2b677a757007f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a> (self)</td></tr>
+<tr class="separator:adf1f4fd59e6ea40d38c2b677a757007f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad17eaba369e442d6a16fa52f3cb41762"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a> (self, I)</td></tr>
+<tr class="separator:ad17eaba369e442d6a16fa52f3cb41762"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba339157c963a999b35e75d846ab4404"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aba339157c963a999b35e75d846ab4404">update_params</a> (self, name, val)</td></tr>
+<tr class="separator:aba339157c963a999b35e75d846ab4404"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
+<tr class="separator:a706fbc5a34b642746161e83b5518afbc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd3b4dab30ed613b063ee4fa5b566f2a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td></tr>
+<tr class="separator:abd3b4dab30ed613b063ee4fa5b566f2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed7f15e6db9ac45a9872f61d77ade4c0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td></tr>
+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7afbc264f25315fb6bff8f05dc5e9bd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7afbc264f25315fb6bff8f05dc5e9bd0">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Base class for the layer segmentation approach
+
+Build upon the the simple detector -&gt; tracker -&gt; trackfilter pipeline
+
+Now building a base classs of the following process pipeline:
+preprocess -&gt; detect -&gt; postprocess -&gt; track -&gt; trackfilter
+
+where:
+- preprocess: the preprocess of the input image
+- Postprocess: post process of the detected layer mask
+- params: need to has the field of the Params class </pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Make the default getting the foregound mask
+
+To be overwritten for any specific detector type
+</pre> 
+<p>Reimplemented in <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>, <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_1base__bg_1_1Base__bg.html#a1ade44fd4633027a680eae6c5c878b16">Base_bg</a>, and <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>.</p>
+
+</div>
+</div>
+<a id="ac9e40ee63bae4d2b96a13889c1962ed7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9e40ee63bae4d2b96a13889c1962ed7">&#9670;&nbsp;</a></span>draw_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def draw_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>raw_detect</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ax</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the layer result
+
+@ param[in] img             The input image. Default is None. If not None, then will crop the layer mask area and show.
+                    If None, then will only plot the binary mask
+@ param[in] raw_detect      bool. Default is False. If set to true, will draw the raw detected mask without postprocessing, 
+                    and will not display the trackerstate
+</pre> 
+</div>
+</div>
+<a id="a7e9f25e26eb3fd8a28187b4fee04f7e1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e9f25e26eb3fd8a28187b4fee04f7e1">&#9670;&nbsp;</a></span>get_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adf1f4fd59e6ea40d38c2b677a757007f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adf1f4fd59e6ea40d38c2b677a757007f">&#9670;&nbsp;</a></span>get_state()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_state </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Set a common processing pipeline?
+
+But different detector or tracker will generate different result name. 
+e.g. the layer mask should be obtained from fg_detector.getForeGround() and bg_detector.getBackground() separetely
+similar for the trackers 
+
+Might be better off defining the pipeline separately for different subclass of segmentor? Or just make up some default?
+
+TODO: here requires the tracker instance to have the process &amp; getstate API.
+might be better to also limit the input to some base tracker class with those APIs?
+</pre> 
+<p>Reimplemented in <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ad17eaba369e442d6a16fa52f3cb41762">Human_ColorSG_HeightInRange</a>.</p>
+
+</div>
+</div>
+<a id="aba339157c963a999b35e75d846ab4404"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba339157c963a999b35e75d846ab4404">&#9670;&nbsp;</a></span>update_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_params </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>val</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update a parameter
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a706fbc5a34b642746161e83b5518afbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a706fbc5a34b642746161e83b5518afbc">&#9670;&nbsp;</a></span>layer_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abd3b4dab30ed613b063ee4fa5b566f2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd3b4dab30ed613b063ee4fa5b566f2a">&#9670;&nbsp;</a></span>layer_mask_det</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask_det</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed7f15e6db9ac45a9872f61d77ade4c0"></a>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1base__bg.html">base_bg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Base_bg Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <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>
+</table></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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+<title>IVALab Python Libraries: Base_bg Class Reference</title>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base_bg Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base_bg:</div>
+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a7afbc264f25315fb6bff8f05dc5e9bd0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a> (self, theDetector, theTracker, trackFilter, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html">Params</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
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+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+<tr class="separator:aba339157c963a999b35e75d846ab4404 inherit pub_methods_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
+<tr class="separator:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abd3b4dab30ed613b063ee4fa5b566f2a inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7afbc264f25315fb6bff8f05dc5e9bd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7afbc264f25315fb6bff8f05dc5e9bd0">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Base class for the foreground segmentation in the layered approach
+
+The processing pipeline:
+preprocess -&gt; detect -&gt; postprocess -&gt; track -&gt; trackfilter</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the det_mask function
+</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">Base</a>.</p>
+
+</div>
+</div>
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+</ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</ul>
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1base__fg.html">base_fg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Base_fg Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <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>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html b/docs/classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html
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+<title>IVALab Python Libraries: Base_fg Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base_fg Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base_fg:</div>
+<div class="dyncontent">
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+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+<div class="memitem">
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Base class for the foreground segmentation in the layered approach
+
+The processing pipeline:
+preprocess -&gt; detect -&gt; postprocess -&gt; track -&gt; trackfilter</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the det_mask function
+</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a1ade44fd4633027a680eae6c5c878b16">Base</a>.</p>
+
+<p>Reimplemented in <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>, and <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a1ade44fd4633027a680eae6c5c878b16">Human_ColorSG</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="base__fg_8py.html">base_fg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<tr class="memitem:a41013be3459e5a9118b4aa276100034d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html#a41013be3459e5a9118b4aa276100034d">__post_init__</a> (self)</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<tr class="inherit_header pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a41013be3459e5a9118b4aa276100034d">&#9670;&nbsp;</a></span>__post_init__()</h2>
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+        <tr>
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+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>.</p>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html
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+<title>IVALab Python Libraries: Human_ColorSG Class Reference</title>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
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+  <div class="headertitle">
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+</div><!--header-->
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+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af1d94040a762fca31ee9fefb2b9a8667"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1d94040a762fca31ee9fefb2b9a8667">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a>&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">The human segmentor with the single-Gaussian based color detector  
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4a745db10619d5f5ed3c1e850fa99a4f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a745db10619d5f5ed3c1e850fa99a4f">&#9670;&nbsp;</a></span>buildFromImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">Return a Human_colorSG instance whose detector(targetSG) is built from the input image
+</pre> 
+</div>
+</div>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">det_mask only gets the detection mask without postprocess refinement
+Overwrite the det_mask function
+</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="human__seg_8py.html">human_seg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html
new file mode 100644
index 00000000..066bd30c
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html
@@ -0,0 +1,111 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html">human_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Human_ColorSG_HeightInRange Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ac925a2258f71f3a4a886cd0098257714">__init__</a>(self, targetSG theDetector, HeightEstimator theHeightEstimator=None, theTracker=None, trackFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#af1d94040a762fca31ee9fefb2b9a8667">Surveillance::layers::human_seg::Human_ColorSG.__init__</a>(self, targetSG theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html">Human_ColorSG</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base_fg::Base_fg.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a123c7d41f4ab1a659db983fcf75a25f7">buildFromImage</a>(img_color, dep_height=None, intrinsics=None, tracker=None, trackerFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a4a745db10619d5f5ed3c1e850fa99a4f">Surveillance::layers::human_seg::Human_ColorSG.buildFromImage</a>(img, tracker=None, trackFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html">Human_ColorSG</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_1human__seg_1_1Human__ColorSG__HeightInRange.html#a270e0455b0b1a0b4b5fb35f536f60429">buildImgDiff</a>(img_bg, img_fg, dep_height=None, intrinsics=None, tracker=None, trackerFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a40fbe8949b277afd0fac64228851b12a">depth</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG.html">Human_ColorSG</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a66fbd5a9a09be4e850c7815441bf272c">draw_height</a>(self, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a099066a9f34a332c2c55b9d90c075c84">height_estimator</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a59d8ccb066c51a33b09c7c9b52197ee3">height_map</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a09f2a608b10624074899a33e6b587729">intrinsics</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a02a795646b735d09b4e4d3f151b132e9">post_process</a>(self, det_mask)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a7b16d8cd0a9427e58038098d91fd0289">post_process_custom</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a797988a5460248ee2d7b9eb6b27746c1">update_depth</a>(self, depth)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a78ed19bd73ce1dbfffaff496c209961e">update_height_map</a>(self, height_map)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+  <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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">update_postprocess</a>(self, callable postprocessor)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html
new file mode 100644
index 00000000..6ec6f903
--- /dev/null
+++ b/docs/classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html
@@ -0,0 +1,703 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Human_ColorSG_HeightInRange Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1human__seg.html">human_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange.html">Human_ColorSG_HeightInRange</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Human_ColorSG_HeightInRange Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Human_ColorSG_HeightInRange:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1human__seg_1_1Human__ColorSG__HeightInRange__coll__graph.png" border="0" usemap="#Human__ColorSG__HeightInRange_coll__map" alt="Collaboration graph"/></div>
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+<tr class="separator:a7b16d8cd0a9427e58038098d91fd0289"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
+<tr class="separator:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd3b4dab30ed613b063ee4fa5b566f2a inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td></tr>
+<tr class="separator:abd3b4dab30ed613b063ee4fa5b566f2a inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td></tr>
+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The human detector based on the Single Gaussian Color segmentation
+It adds the postprocess routine that use the depth map to estimate the height,
+and then perform in-range segmentation to get the human layer mask.
+
+The postprocessor passed to the class constructor will be performed after the heightInRange process 
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac925a2258f71f3a4a886cd0098257714"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac925a2258f71f3a4a886cd0098257714">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1targetSG.html">targetSG</a>&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html">HeightEstimator</a> &#160;</td>
+          <td class="paramname"><em>theHeightEstimator</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a> &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a123c7d41f4ab1a659db983fcf75a25f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a123c7d41f4ab1a659db983fcf75a25f7">&#9670;&nbsp;</a></span>buildFromImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep_height</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsics</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackerFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the base buildFromImage
+
+Now building a ColorSG_HeightInRange human segmentor requires three things
+1. An image contraining the target color for the color model calibration
+2. Camera intrinsics for the height estimation from the depth image
+3. An depth map of the empty table surface for the height estimator calibration
+
+@param[in]  img_color           The image containing the target color
+@param[in]  dep_height          The depth map of the empty table for height estimator calibration. 
+                        Default is None, meaning a height estimator won't be built. Will need to set height before processing
+@param[in]  intrinsic           THe camera intrinsic fo the height estimator. 
+                        Default is None, meaning that a height estimator won't be build. Will need to set height before processing
+</pre> 
+</div>
+</div>
+<a id="a270e0455b0b1a0b4b5fb35f536f60429"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a270e0455b0b1a0b4b5fb35f536f60429">&#9670;&nbsp;</a></span>buildImgDiff()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildImgDiff </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_bg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_fg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dep_height</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsics</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackerFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">Create a ColorSG_HeightInRange human segmenter by using the image difference method
+to automatically extract the target color samples and optionally using the empty table 
+depth data to calibrate a height estimator
+
+Args:
+    img_bg ([type]): [description]
+    img_fg ([type]): [description]
+    dep_height (np.ndarray, (H, W), optional): The depth map of the empty table for height estimator calibration. \
+Defaults to None, which means will not create a height estimator and will rely externel feeding of the heigth info
+    intrinsics (np.ndarray, (3, 3), optional): THe camera intrinsic for the height estimator. \
+Default to None, assuming that a height estimator won't be build.
+    tracker (trackpointer, optional): Trackerpointer detector. Defaults to None.
+    trackerFilter (trackerFilter, optional): Defaults to None.
+    params (human_seg.Params, optional): segmenter parameters. Defaults to Params().
+
+Returns:
+    human_segmenter [human_seg.Human_ColorSG_HeightInRange]: A ColorSG_HeightInRange segmenter instance
+</pre> 
+</div>
+</div>
+<a id="a66fbd5a9a09be4e850c7815441bf272c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66fbd5a9a09be4e850c7815441bf272c">&#9670;&nbsp;</a></span>draw_height()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def draw_height </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ax</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw the estimated height map
+</pre> 
+</div>
+</div>
+<a id="ad17eaba369e442d6a16fa52f3cb41762"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad17eaba369e442d6a16fa52f3cb41762">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the common measure process.
+
+The modified part is that the tracker is applied only on the detection mask,
+because only the hand centroid is of interest, whereas the goal of the 
+postprocess (height-based inRange segmentation) is to get the rest of the human body</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">Base</a>.</p>
+
+</div>
+</div>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the post-process routine.
+Also allow users to add additional postprocess to the procedure.
+
+The function to:
+(a) get the height map from the depth map
+(b) perform thresholding on the height map and find the connected component to the largest CC of the init_mask
+(c) assuming the hand is reaching out from the top of the image frame, remove all pixels so far below the init_mask as outlier
+</pre> 
+</div>
+</div>
+<a id="a797988a5460248ee2d7b9eb6b27746c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a797988a5460248ee2d7b9eb6b27746c1">&#9670;&nbsp;</a></span>update_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Update the stored depth frame for the post process
+</pre> 
+</div>
+</div>
+<a id="a78ed19bd73ce1dbfffaff496c209961e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78ed19bd73ce1dbfffaff496c209961e">&#9670;&nbsp;</a></span>update_height_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_height_map </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>height_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8aa8e0ac3684dcd56836e5e41a99c3bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8aa8e0ac3684dcd56836e5e41a99c3bb">&#9670;&nbsp;</a></span>update_postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">callable&#160;</td>
+          <td class="paramname"><em>postprocessor</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">update the postprocessor, which is the customized one after applying the height-based segmentation process.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a099066a9f34a332c2c55b9d90c075c84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099066a9f34a332c2c55b9d90c075c84">&#9670;&nbsp;</a></span>height_estimator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_estimator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59d8ccb066c51a33b09c7c9b52197ee3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d8ccb066c51a33b09c7c9b52197ee3">&#9670;&nbsp;</a></span>height_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_map</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a09f2a608b10624074899a33e6b587729"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09f2a608b10624074899a33e6b587729">&#9670;&nbsp;</a></span>intrinsics</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">intrinsics</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a706fbc5a34b642746161e83b5518afbc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a706fbc5a34b642746161e83b5518afbc">&#9670;&nbsp;</a></span>layer_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abd3b4dab30ed613b063ee4fa5b566f2a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd3b4dab30ed613b063ee4fa5b566f2a">&#9670;&nbsp;</a></span>layer_mask_det</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">layer_mask_det</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed7f15e6db9ac45a9872f61d77ade4c0"></a>
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new file mode 100644
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new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1puzzle__seg.html">puzzle_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Puzzle_Residual Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a>, including all inherited members.</p>
+<table class="directory">
+  <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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base_fg::Base_fg.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">detected_masks</a></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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a02a795646b735d09b4e4d3f151b132e9">post_process</a>(self, det_mask)</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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a7b16d8cd0a9427e58038098d91fd0289">post_process_custom</a></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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#ac28d6b90aea155426cabe2615fc0ea1f">set_detected_masks</a>(self, masks)</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>
+  <tr class="even"><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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">update_postprocess</a>(self, callable postprocessor)</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>
+</table></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
+</small></address>
+</body>
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diff --git a/docs/classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html b/docs/classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Puzzle_Residual Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1puzzle__seg.html">puzzle_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html">Puzzle_Residual</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Puzzle_Residual Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Puzzle_Residual:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual__inherit__graph.png" border="0" usemap="#Puzzle__Residual_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for Puzzle_Residual:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual__coll__graph.png" border="0" usemap="#Puzzle__Residual_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a1c738de2be2b3952c998256db3960b11"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1c738de2be2b3952c998256db3960b11">__init__</a> (self, theTracker=None, trackFilter=None, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html">Params_Residual</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>=<a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html">Params_Residual</a>())</td></tr>
+<tr class="separator:a1c738de2be2b3952c998256db3960b11"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ade44fd4633027a680eae6c5c878b16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a> (self)</td></tr>
+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a02a795646b735d09b4e4d3f151b132e9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a02a795646b735d09b4e4d3f151b132e9">post_process</a> (self, <a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>)</td></tr>
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+<tr class="memitem:ac28d6b90aea155426cabe2615fc0ea1f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#ac28d6b90aea155426cabe2615fc0ea1f">set_detected_masks</a> (self, masks)</td></tr>
+<tr class="separator:ac28d6b90aea155426cabe2615fc0ea1f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8aa8e0ac3684dcd56836e5e41a99c3bb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#a8aa8e0ac3684dcd56836e5e41a99c3bb">update_postprocess</a> (self, callable postprocessor)</td></tr>
+<tr class="separator:a8aa8e0ac3684dcd56836e5e41a99c3bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base__fg_1_1Base__fg"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base__fg_1_1Base__fg')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td></tr>
+<tr class="memitem:a7afbc264f25315fb6bff8f05dc5e9bd0 inherit pub_methods_classSurveillance_1_1layers_1_1base__fg_1_1Base__fg"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a> (self, theDetector, theTracker, trackFilter, <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html">Params</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:aea79e641e00c820e01063fff1e5e2254"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Puzzle__Residual.html#aea79e641e00c820e01063fff1e5e2254">detected_masks</a></td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">This class detect the puzzle layer as the residual of the other masks
+
+The process of taking residual is treated as the roution postprocess
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a1c738de2be2b3952c998256db3960b11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c738de2be2b3952c998256db3960b11">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html">Params_Residual</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1puzzle__seg_1_1Params__Residual.html">Params_Residual</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the detection mask get function. 
+
+Suited for the inImage detector
+</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>.</p>
+
+</div>
+</div>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the routine post-process
+And apply the user-customize postprocess after the routine the procedure.
+
+The routine:
+(a) take the residual of the detection masks
+
+@param[in]  det_mask            The dummy detection result that is all True
+</pre> 
+</div>
+</div>
+<a id="ac28d6b90aea155426cabe2615fc0ea1f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac28d6b90aea155426cabe2615fc0ea1f">&#9670;&nbsp;</a></span>set_detected_masks()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def set_detected_masks </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>masks</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8aa8e0ac3684dcd56836e5e41a99c3bb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8aa8e0ac3684dcd56836e5e41a99c3bb">&#9670;&nbsp;</a></span>update_postprocess()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_postprocess </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">callable&#160;</td>
+          <td class="paramname"><em>postprocessor</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">update the postprocessor, which is the customized one after applying the height-based segmentation process.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aea79e641e00c820e01063fff1e5e2254"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea79e641e00c820e01063fff1e5e2254">&#9670;&nbsp;</a></span>detected_masks</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">detected_masks</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b16d8cd0a9427e58038098d91fd0289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b16d8cd0a9427e58038098d91fd0289">&#9670;&nbsp;</a></span>post_process_custom</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">post_process_custom</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The dummy requires no params </li>
+</ul>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="puzzle__seg_8py.html">puzzle_seg.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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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: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">robot_inRange Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</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_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></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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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></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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+  <tr class="even"><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>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html b/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: robot_inRange Class 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>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div id="nav-path" class="navpath">
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">robot_inRange Class Reference</div>  </div>
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+<tr class="separator:a1ade44fd4633027a680eae6c5c878b16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base__fg_1_1Base__fg"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base__fg_1_1Base__fg')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5162304d394f5e986db3696e86607be0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5162304d394f5e986db3696e86607be0">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>low_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>high_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">The inRange robot segmenter detects the segmenter with the assumption that 
+the depth of the robot falls within a certain range.
+
+@param[in]  low_th              float.The lower threshold for the inRange method
+@param[in]  high_th             float.The higher threshold for teh inRange method
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1ade44fd4633027a680eae6c5c878b16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ade44fd4633027a680eae6c5c878b16">&#9670;&nbsp;</a></span>det_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def det_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the detection mask. 
+Based on the ivapylib/detector/testing/*_inRange.py, the in-range is constructed using the base class inImage,
+and the mask is get from self.Ip
+TODO: seems a little weird to me. I think there should be a generic get mask method
+</pre> 
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a1ade44fd4633027a680eae6c5c878b16">Base_fg</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="robot__seg_8py.html">robot_seg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height-members.html b/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1robot__seg.html">robot_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">robot_inRange_Height Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<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>
+<table class="directory">
+  <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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a5162304d394f5e986db3696e86607be0">Surveillance::layers::robot_seg::robot_inRange.__init__</a>(self, low_th, high_th, tracker=None, trackFilter=None, Params params=Params())</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base_fg::Base_fg.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Base__fg.html">Base_fg</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</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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diff --git a/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html b/docs/classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html
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+<tr class="separator:a59d8ccb066c51a33b09c7c9b52197ee3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b16d8cd0a9427e58038098d91fd0289"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html#a7b16d8cd0a9427e58038098d91fd0289">post_process_custom</a></td></tr>
+<tr class="separator:a7b16d8cd0a9427e58038098d91fd0289"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
+<tr class="separator:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The robot segmenter that uses the inRange segmentation on the height map
+
+The height based segmentation is treated as a routine post-process step.
+The customized postprocess passed through the params will be applied 
+after the routine post-process
+
+The height map can be obtained in two ways:
+1. Pass a heightEstimator to the constructor, and call process_depth function
+    to obtrain the height
+2. Use the setHeight function to set the heigth directly
+
+NOTE: Now for sanity only allows one of the ways to be activated.
+(i.e.) If the heightEstimator is stored, then setHeight will be disabled
+If the heightEstimator is None, then process_depth will be disabled
+
+@param[in]  low_th              float.The lower threshold for the inRange method
+@param[in]  high_th             float.The higher threshold for teh inRange method
+@param[in]  theHeightEstimator  HeightEstimator. Default is None. Used to estimate
+                                height from the depth. If None, then requires set the 
+                                depth before processing each frame.
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa55642f4ad76b95326d5e6400e26ebcb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa55642f4ad76b95326d5e6400e26ebcb">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>low_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>high_th</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html">HeightEstimator</a>&#160;</td>
+          <td class="paramname"><em>theHeightEstimator</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>trackFilter</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a02a795646b735d09b4e4d3f151b132e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02a795646b735d09b4e4d3f151b132e9">&#9670;&nbsp;</a></span>post_process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def post_process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>det_mask</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Define the whole post-process, which includes:
+1. Routine post-process (height based inRange segmentaiton)
+2. Customized post-process
+</pre> 
+</div>
+</div>
+<a id="a7cc6ec34f5198ff4402624fbcf210ea7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc6ec34f5198ff4402624fbcf210ea7">&#9670;&nbsp;</a></span>process_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Process the depth
+</pre> 
+</div>
+</div>
+<a id="a78ed19bd73ce1dbfffaff496c209961e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78ed19bd73ce1dbfffaff496c209961e">&#9670;&nbsp;</a></span>update_height_map()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update_height_map </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>height_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Set the cached height map
+When the heightEstimator is None, can use this to set the height map externally
+
+@param[in]  height_map              The height_map to store
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a099066a9f34a332c2c55b9d90c075c84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099066a9f34a332c2c55b9d90c075c84">&#9670;&nbsp;</a></span>height_estimator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_estimator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59d8ccb066c51a33b09c7c9b52197ee3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d8ccb066c51a33b09c7c9b52197ee3">&#9670;&nbsp;</a></span>height_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_map</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b16d8cd0a9427e58038098d91fd0289"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b16d8cd0a9427e58038098d91fd0289">&#9670;&nbsp;</a></span>post_process_custom</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">post_process_custom</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="robot__seg_8py.html">robot_seg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">Params Class Reference</div>  </div>
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+<div class="textblock"><pre class="fragment">Should be the parameters different from the ones used in the layer segmenters
+
+Args:
+    BEV_trans_mat            The Bird-eye-view transformation matrix
+    BEV_rect_size            np.ndarray. (2, ) The image size (H, W) after rectification. If None, then will use the input image size. Defaults to None</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
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+</div>
+</div>
+<a id="a8719cb645096a73ecea462e78ae1f882"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8719cb645096a73ecea462e78ae1f882">&#9670;&nbsp;</a></span>Callable</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">Callable</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7c4c82e7573d516a6dffe895cc98f613"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c4c82e7573d516a6dffe895cc98f613">&#9670;&nbsp;</a></span>ndarray</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">ndarray</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="scene_8py.html">scene.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1-members.html b/docs/classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html">scene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SceneInterpreterV1 Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#afaf30d7077d95a3fa5a97255b98e914e">__init__</a>(self, hSeg.Human_ColorSG_HeightInRange human_seg, rSeg.robot_inRange_Height robot_seg, tSeg.tabletop_GMM bg_seg, pSeg.Puzzle_Residual puzzle_seg, HeightEstimator heightEstimator, Params params, np.ndarray nonROI_init=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><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</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 class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aea8f07689b038243b753197812f3c4af">BEV_size</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#a517f31b4792db90b7655e9408c8e90a7">bg_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#af40933d7f3db3084a78804cd538bce0e">bg_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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a568518935021f44ffa9d1c8f3e30b897">buildFromRosbag</a>(rosbag_file, rTh_high=1.0, rTh_low=0.02, hTracker=None, pTracker=None, rTracker=None, hSeg.Params hParams=hSeg.Params(), rSeg.Params rParams=rSeg.Params(), pSeg.Params_Residual pParams=pSeg.Params_Residual(), tSeg.Params_GMM bgParams=tSeg.Params_GMM(), bool reCalibrate=True, str cache_dir=None, bool ros_pub=False, str empty_table_rgb_topic=&quot;empty_table_rgb&quot;, str empty_table_dep_topic=&quot;empty_table_dep&quot;, str glove_rgb_topic=&quot;glove_rgb&quot;, str human_wave_rgb_topic=&quot;human_wave_rgb&quot;, str human_wave_dep_topic=&quot;human_wave_dep&quot;, float depth_scale=None, intrinsic=None, nonROI_region=None, Params() params=Params())</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#a31f026e0f9ba62ed6d7004202cfb9356">buildFromSourceDir</a>(Callable imgSource, intrinsic, rTh_high=1.0, rTh_low=0.02, hTracker=None, pTracker=None, rTracker=None, hSeg.Params hParams=hSeg.Params(), rSeg.Params rParams=rSeg.Params(), pSeg.Params_Residual pParams=pSeg.Params_Residual(), tSeg.Params_GMM bgParams=tSeg.Params_GMM(), Params() params=Params(), bool reCalibrate=True, str cache_dir=None)</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#a475fbf3740111eca4032186bfac92f03">buildFromSourcePub</a>(Base cam_runner, rTh_high=1.0, rTh_low=0.02, hTracker=None, pTracker=None, rTracker=None, hSeg.Params hParams=hSeg.Params(), rSeg.Params rParams=rSeg.Params(), pSeg.Params_Residual pParams=pSeg.Params_Residual(), tSeg.Params_GMM bgParams=tSeg.Params_GMM(), bool ros_pub=True, str empty_table_rgb_topic=&quot;empty_table_rgb&quot;, str empty_table_dep_topic=&quot;empty_table_dep&quot;, str glove_rgb_topic=&quot;glove_rgb&quot;, str human_wave_rgb_topic=&quot;human_wave_rgb&quot;, str human_wave_dep_topic=&quot;human_wave_dep&quot;, nonROI_region=None, Params() params=Params())</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#ad1017975e2cf3f6aad2eb699e576acfb">correct</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#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"></td></tr>
+  <tr class="even"><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><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 class="even"><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><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"></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"></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"></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#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"></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#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"></td></tr>
+  <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>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a7cc6ec34f5198ff4402624fbcf210ea7">process_depth</a>(self, depth)</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#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>
+  <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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6c9d445c0972d9afb165627b609d51a6">puzzle_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#a489c7cbcef872f066f2596e5a16cb2a6">rgb_img</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#aa38075a7f674a57b2f43cc5ef61d19d7">robot_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#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"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af984f6b5852d364cb81862bc403248b1">robot_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#acf49d40e5b63d13797daf9bb5dd4d098">vis_layer</a>(self, layer_name, bool mask_only=False, bool BEV_rectify=False, plt.Axes ax=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><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#a1fe5c6c8163ab2803ff44d85e17238c1">vis_scene</a>(self, List[bool] mask_only=[False, False, False, False], List[bool] BEV_rectify=[False, False, False, 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>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html b/docs/classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1scene.html">scene</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html">SceneInterpreterV1</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SceneInterpreterV1 Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="separator:a1001359200f8455263d6d62807576c0e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d67e91e2daba56e4d497fc13f62cf33"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a8d67e91e2daba56e4d497fc13f62cf33">puzzle_seg</a></td></tr>
+<tr class="separator:a8d67e91e2daba56e4d497fc13f62cf33"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c9d445c0972d9afb165627b609d51a6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a6c9d445c0972d9afb165627b609d51a6">puzzle_track_state</a></td></tr>
+<tr class="separator:a6c9d445c0972d9afb165627b609d51a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a489c7cbcef872f066f2596e5a16cb2a6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a489c7cbcef872f066f2596e5a16cb2a6">rgb_img</a></td></tr>
+<tr class="separator:a489c7cbcef872f066f2596e5a16cb2a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa38075a7f674a57b2f43cc5ef61d19d7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#aa38075a7f674a57b2f43cc5ef61d19d7">robot_mask</a></td></tr>
+<tr class="separator:aa38075a7f674a57b2f43cc5ef61d19d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06218e1db167ce867d185a75e545a49a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#a06218e1db167ce867d185a75e545a49a">robot_seg</a></td></tr>
+<tr class="separator:a06218e1db167ce867d185a75e545a49a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af984f6b5852d364cb81862bc403248b1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1SceneInterpreterV1.html#af984f6b5852d364cb81862bc403248b1">robot_track_state</a></td></tr>
+<tr class="separator:af984f6b5852d364cb81862bc403248b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</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:
+    1. Background (tabletop) layer
+    2. Human layer
+    3. Robot arm layer
+    4. Puzzle piece layer
+The first three relys on their own segmenter, and the puzzle piece layer
+is assumed to be the residual.
+
+The interpreter will provide the following additional functions:
+1. Bird-eye-view rectification
+
+@param[in]  human_seg           The human segmenter.
+@param[in]  robot_seg           The robot segmenter.
+@param[in]  bg_seg              The background segmenter.
+@param[in]  params              Other parameters
+@param[in]  nonROI_init         A mask of initial nonROI region, which will be always treated as the background
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="afaf30d7077d95a3fa5a97255b98e914e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afaf30d7077d95a3fa5a97255b98e914e">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">hSeg.Human_ColorSG_HeightInRange&#160;</td>
+          <td class="paramname"><em>human_seg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rSeg.robot_inRange_Height&#160;</td>
+          <td class="paramname"><em>robot_seg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tSeg.tabletop_GMM&#160;</td>
+          <td class="paramname"><em>bg_seg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pSeg.Puzzle_Residual&#160;</td>
+          <td class="paramname"><em>puzzle_seg</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1utils_1_1height__estimate_1_1HeightEstimator.html">HeightEstimator</a>&#160;</td>
+          <td class="paramname"><em>heightEstimator</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">np.ndarray &#160;</td>
+          <td class="paramname"><em>nonROI_init</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a568518935021f44ffa9d1c8f3e30b897"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a568518935021f44ffa9d1c8f3e30b897">&#9670;&nbsp;</a></span>buildFromRosbag()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromRosbag </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_file</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_high</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_low</em> = <code>0.02</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">hSeg.Params  &#160;</td>
+          <td class="paramname"><em>hParams</em> = <code>hSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rSeg.Params &#160;</td>
+          <td class="paramname"><em>rParams</em> = <code>rSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pSeg.Params_Residual &#160;</td>
+          <td class="paramname"><em>pParams</em> = <code>pSeg.Params_Residual()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tSeg.Params_GMM &#160;</td>
+          <td class="paramname"><em>bgParams</em> = <code>tSeg.Params_GMM()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool &#160;</td>
+          <td class="paramname"><em>reCalibrate</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>cache_dir</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool &#160;</td>
+          <td class="paramname"><em>ros_pub</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>empty_table_rgb_topic</em> = <code>&quot;empty_table_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>empty_table_dep_topic</em> = <code>&quot;empty_table_dep&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>glove_rgb_topic</em> = <code>&quot;glove_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>human_wave_rgb_topic</em> = <code>&quot;human_wave_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>human_wave_dep_topic</em> = <code>&quot;human_wave_dep&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">float &#160;</td>
+          <td class="paramname"><em>depth_scale</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsic</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>nonROI_region</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>() &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a31f026e0f9ba62ed6d7004202cfb9356"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a31f026e0f9ba62ed6d7004202cfb9356">&#9670;&nbsp;</a></span>buildFromSourceDir()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromSourceDir </td>
+          <td>(</td>
+          <td class="paramtype">Callable&#160;</td>
+          <td class="paramname"><em>imgSource</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsic</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_high</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_low</em> = <code>0.02</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">hSeg.Params  &#160;</td>
+          <td class="paramname"><em>hParams</em> = <code>hSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rSeg.Params &#160;</td>
+          <td class="paramname"><em>rParams</em> = <code>rSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pSeg.Params_Residual &#160;</td>
+          <td class="paramname"><em>pParams</em> = <code>pSeg.Params_Residual()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tSeg.Params_GMM &#160;</td>
+          <td class="paramname"><em>bgParams</em> = <code>tSeg.Params_GMM()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>() &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool &#160;</td>
+          <td class="paramname"><em>reCalibrate</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>cache_dir</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">The interface for building the sceneInterpreterV1.0 from an image source.
+Given an image source which can provide the stream of the rgb and depth data,
+this builder will build the scene interpreter in the following process:
+
+1. Ask for an empty tabletop rgb and depth data.
+2. Use the depth to build a height estimator
+3. Ask for a target color glove rgb image
+4. Use the  target color glove rgb image and the tabletop rgb image to build the \
+    human segmenter
+5. Build a tabletop segmenter
+6. Ask for the human to wave across the working area with the glove. \
+    The rgb data will be used to calibrate the tabletop segmenter
+7. Build the robot segmenter and the puzzle 
+
+This function will save the calibration data to various files in the cache_dir, 
+and load from that directory when reCalibrate is set to False
+
+Args:
+    imgSource (Callable): A callable for getting the rgb and depth image. \
+Could be the camera runner interface or the ROS subscriber
+    intrinsic (np.ndarray. Shape:(3,3)): The camera intrinsic matrix
+    rTh_high (float, optional): The upper height threshold for the robot segmenter. Defaults to 1.0.
+    rTh_low (float, optional): The lower hieght threshold for the robot segmenter. Defaults to 0.02.
+    hTracker ([type], optional): human tracker. Defaults to None.
+    pTracker ([type], optional): puzzle tracker. Defaults to None.
+    rTracker ([type], optional): robot tracker. Defaults to None.
+    hParams (hSeg.Params, optional): human segmenter parameters. Defaults to hSeg.Params().
+    rParams (rSeg.Params, optional): robot segmenter parameters. Defaults to rSeg.Params().
+    pParams (pSeg.Params_Residual, optional): puzzle segmenter parameters. Defaults to pSeg.Params_Residual().
+    bgParams (tSeg.Params_GMM, optional): background segmenter parameters. Defaults to tSeg.Params_GMM().
+    params (Params, optional): the scene interpreter parameters. Defaults to Params().
+    reCalibrate (bool, optional): Defaults to True. If set to True, will ignore previous calibration results and re-calibrate
+    cache_dir (Srting, optional): the directory storing the calibration data. Defaults to None, in which case will need \
+manual calibration. Otherwise will directly look for the calibration data. If no desired data found, then will \
+still need manual calibration, where the data will be saved in the cache folder.
+    publish_calib_data
+</pre> 
+</div>
+</div>
+<a id="a475fbf3740111eca4032186bfac92f03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a475fbf3740111eca4032186bfac92f03">&#9670;&nbsp;</a></span>buildFromSourcePub()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromSourcePub </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="classcamera_1_1base_1_1Base.html">Base</a>&#160;</td>
+          <td class="paramname"><em>cam_runner</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_high</em> = <code>1.0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTh_low</em> = <code>0.02</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">hSeg.Params  &#160;</td>
+          <td class="paramname"><em>hParams</em> = <code>hSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rSeg.Params &#160;</td>
+          <td class="paramname"><em>rParams</em> = <code>rSeg.Params()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pSeg.Params_Residual &#160;</td>
+          <td class="paramname"><em>pParams</em> = <code>pSeg.Params_Residual()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tSeg.Params_GMM &#160;</td>
+          <td class="paramname"><em>bgParams</em> = <code>tSeg.Params_GMM()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool &#160;</td>
+          <td class="paramname"><em>ros_pub</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>empty_table_rgb_topic</em> = <code>&quot;empty_table_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>empty_table_dep_topic</em> = <code>&quot;empty_table_dep&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>glove_rgb_topic</em> = <code>&quot;glove_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>human_wave_rgb_topic</em> = <code>&quot;human_wave_rgb&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">str &#160;</td>
+          <td class="paramname"><em>human_wave_dep_topic</em> = <code>&quot;human_wave_dep&quot;</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>nonROI_region</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>() &#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classSurveillance_1_1layers_1_1scene_1_1Params.html">Params</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">The interface for building the sceneInterpreterV1.0 from an image source.
+Given an image source which can provide the stream of the rgb and depth data,
+this builder will build the scene interpreter in the following process:
+
+1. Ask for an empty tabletop rgb and depth data.
+2. Use the depth to build a height estimator
+3. Ask for a target color glove rgb image
+4. Use the  target color glove rgb image and the tabletop rgb image to build the \
+    human segmenter
+5. Build a tabletop segmenter
+6. Ask for the human to wave across the working area with the glove. \
+    The rgb data will be used to calibrate the tabletop segmenter
+7. Build the robot segmenter and the puzzle 
+
+The builder provides the option to publish all the calibration data (and the depth scale) to ros opics
+
+Args:
+    cam_runner: The camera runner
+    intrinsic (np.ndarray. Shape:(3,3)): The camera intrinsic matrix
+    rTh_high (float, optional): The upper height threshold for the robot segmenter. Defaults to 1.0.
+    rTh_low (float, optional): The lower hieght threshold for the robot segmenter. Defaults to 0.02.
+    hTracker ([type], optional): human tracker. Defaults to None.
+    pTracker ([type], optional): puzzle tracker. Defaults to None.
+    rTracker ([type], optional): robot tracker. Defaults to None.
+    hParams (hSeg.Params, optional): human segmenter parameters. Defaults to hSeg.Params().
+    rParams (rSeg.Params, optional): robot segmenter parameters. Defaults to rSeg.Params().
+    pParams (pSeg.Params_Residual, optional): puzzle segmenter parameters. Defaults to pSeg.Params_Residual().
+    bgParams (tSeg.Params_GMM, optional): background segmenter parameters. Defaults to tSeg.Params_GMM().
+    ros_pub (bool, optional):   If true, will publish the data to the ros. Defaults to True
+    params (Params, optional): the scene interpreter parameters. Defaults to Params().
+</pre> 
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afe107e18903fdb4b99b27bf6e26e5abb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe107e18903fdb4b99b27bf6e26e5abb">&#9670;&nbsp;</a></span>get_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the content or the binary mask of a layer
+
+@param[in]  layer_name          The name of the layer mask to get
+                        Choices = ["bg", "human", "robot", "puzzle", "nonROI", "sourceRGB"]
+@param[in]  mask_only           Binary. If true, will get the binary mask
+@param[in]  BEV_rectify         Binary. If true, will rectify the layer
+                        to the bird-eye-view before return
+</pre> 
+</div>
+</div>
+<a id="ab7c5cc7c1c708a33c7edea7f26515c29"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7c5cc7c1c708a33c7edea7f26515c29">&#9670;&nbsp;</a></span>get_nonROI()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_nonROI </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">This function encode the prior knowledge of which region is not of interest
+
+Current non-ROI: 
+1. Depth is zero, which indicate failure in depth capturing
+2. Height is too big (above 0.5 meter), which indicates non-table region
+
+@param[out] mask        The binary mask indicating non-ROI
+</pre> 
+</div>
+</div>
+<a id="ad4795eaddab88da28b99efa8f8c68eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4795eaddab88da28b99efa8f8c68eea">&#9670;&nbsp;</a></span>get_trackers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_trackers </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Get the track pointers for a layer. 
+If no tracker is applied or no trackpointers are detected, then will return None
+
+Args:
+    layer_name (str): The name of the layer trackers to get. \
+    Choices = ["human", "robot", "puzzle"]
+    BEV_rectify (bool, optional): Rectify to the bird-eye-view or not. Defaults to False.
+
+Returns:
+    tpt [np.ndarray, (2, N)]: The tracker pointers of the layer
+</pre> 
+</div>
+</div>
+<a id="a4c929e144b06b17fd349cc7601a3c747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c929e144b06b17fd349cc7601a3c747">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae7ea0e57263609b9fc86c2f0bde7294b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7ea0e57263609b9fc86c2f0bde7294b">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@param[in]  img         The rbg image to be processed
+</pre> 
+</div>
+</div>
+<a id="a7cc6ec34f5198ff4402624fbcf210ea7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc6ec34f5198ff4402624fbcf210ea7">&#9670;&nbsp;</a></span>process_depth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_depth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Process the depth map
+</pre> 
+</div>
+</div>
+<a id="acf49d40e5b63d13797daf9bb5dd4d098"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf49d40e5b63d13797daf9bb5dd4d098">&#9670;&nbsp;</a></span>vis_layer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_layer </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>layer_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">plt.Axes&#160;</td>
+          <td class="paramname"><em>ax</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the layer
+
+@param[in]  layer_name          The name of the layer mask to visualize
+                        Choices = ["bg", "human", "robot", "puzzle"]
+@param[in]  mask_only           Binary. If true, will visualize the binary mask
+@param[in]  BEV_rectify         Binary. If true, will rectify the layer
+                        to the bird-eye-view for visualization 
+@param[in]  ax                  The axis for visualization
+</pre> 
+</div>
+</div>
+<a id="a4e60404be734751899afb73dcbbb781d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e60404be734751899afb73dcbbb781d">&#9670;&nbsp;</a></span>vis_puzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_puzzles </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize the puzzle pieces segmentation result and the region carved around
+the puzzle pieces centroid. The latter may be used to pass to the puzzle solver.
+
+NOTE: move the function to another place? A better structure?
+
+Args:
+    mask_only (bool, optional): only visualize the mask or not. Defaults to False.
+    BEV_rectify (bool, optional): Rectify to the bird-eye-view or not. Defaults to True.
+    fh ([type], optional): Figure handle. Defaults to None.
+</pre> 
+</div>
+</div>
+<a id="a1fe5c6c8163ab2803ff44d85e17238c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1fe5c6c8163ab2803ff44d85e17238c1">&#9670;&nbsp;</a></span>vis_scene()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vis_scene </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">List[bool]&#160;</td>
+          <td class="paramname"><em>mask_only</em> = <code>[False,&#160;False,&#160;False,&#160;False]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">List[bool]&#160;</td>
+          <td class="paramname"><em>BEV_rectify</em> = <code>[False,&#160;False,&#160;False,&#160;True]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Visualize four layers ["bg", "human", "robot", "puzzle"]
+
+@param[in]  mask_only       A list of bool corresponding to the 4 layers above.
+                    If true, will only visualize the binary mask
+@param[in]  BEV_rectify     A list of bool corresponding to the 4 layers above.
+                    If true, will visualize the bird-eye-view of the layer
+@param[in]  fh              The figure handle. matplotlib Figure type
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aea8f07689b038243b753197812f3c4af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aea8f07689b038243b753197812f3c4af">&#9670;&nbsp;</a></span>BEV_size</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BEV_size</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a517f31b4792db90b7655e9408c8e90a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a517f31b4792db90b7655e9408c8e90a7">&#9670;&nbsp;</a></span>bg_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bg_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>Trust human mask more </li>
+</ul>
+
+</div>
+</div>
+<a id="af40933d7f3db3084a78804cd538bce0e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af40933d7f3db3084a78804cd538bce0e">&#9670;&nbsp;</a></span>bg_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bg_seg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40fbe8949b277afd0fac64228851b12a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40fbe8949b277afd0fac64228851b12a">&#9670;&nbsp;</a></span>depth</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">depth</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The depth map that is lastly processed </li>
+</ul>
+
+</div>
+</div>
+<a id="a099066a9f34a332c2c55b9d90c075c84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a099066a9f34a332c2c55b9d90c075c84">&#9670;&nbsp;</a></span>height_estimator</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_estimator</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59d8ccb066c51a33b09c7c9b52197ee3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d8ccb066c51a33b09c7c9b52197ee3">&#9670;&nbsp;</a></span>height_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">height_map</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The height map that is lastly processed </li>
+</ul>
+
+</div>
+</div>
+<a id="ac5b4e8285c882db524515204d005f95e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac5b4e8285c882db524515204d005f95e">&#9670;&nbsp;</a></span>human_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">human_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a27814ebb1d79884be91400535a1c523a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27814ebb1d79884be91400535a1c523a">&#9670;&nbsp;</a></span>human_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">human_seg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a60af43f2054317d5d46e1d7e3b638dbe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60af43f2054317d5d46e1d7e3b638dbe">&#9670;&nbsp;</a></span>human_track_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">human_track_state</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6b885acab536fa8fb055d945cc24aafb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b885acab536fa8fb055d945cc24aafb">&#9670;&nbsp;</a></span>nonROI_init</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">nonROI_init</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The prior nonROI region </li>
+</ul>
+
+</div>
+</div>
+<a id="a8ed07fc13da4d5014bc1ea327ba24c22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ed07fc13da4d5014bc1ea327ba24c22">&#9670;&nbsp;</a></span>nonROI_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">nonROI_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The nonROI for each frame, which is the prior + pixels without necessary information. (e.g. The depth is missing) </li>
+</ul>
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1001359200f8455263d6d62807576c0e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1001359200f8455263d6d62807576c0e">&#9670;&nbsp;</a></span>puzzle_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8d67e91e2daba56e4d497fc13f62cf33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d67e91e2daba56e4d497fc13f62cf33">&#9670;&nbsp;</a></span>puzzle_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_seg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6c9d445c0972d9afb165627b609d51a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c9d445c0972d9afb165627b609d51a6">&#9670;&nbsp;</a></span>puzzle_track_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_track_state</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a489c7cbcef872f066f2596e5a16cb2a6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a489c7cbcef872f066f2596e5a16cb2a6">&#9670;&nbsp;</a></span>rgb_img</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rgb_img</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>The image that is lastly processed </li>
+</ul>
+
+</div>
+</div>
+<a id="aa38075a7f674a57b2f43cc5ef61d19d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa38075a7f674a57b2f43cc5ef61d19d7">&#9670;&nbsp;</a></span>robot_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a06218e1db167ce867d185a75e545a49a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06218e1db167ce867d185a75e545a49a">&#9670;&nbsp;</a></span>robot_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_seg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af984f6b5852d364cb81862bc403248b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af984f6b5852d364cb81862bc403248b1">&#9670;&nbsp;</a></span>robot_track_state</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">robot_track_state</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<ul>
+<li>Trust the human mask and the bg mask more </li>
+</ul>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="scene_8py.html">scene.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM-members.html b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+<!-- window showing the filter options -->
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1tabletop__seg.html">tabletop_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Params_GMM Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html#a41013be3459e5a9118b4aa276100034d">__post_init__</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Params_GMM Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1tabletop__seg.html">tabletop_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Params_GMM Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Params_GMM:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__inherit__graph.png" border="0" usemap="#Params__GMM_inherit__map" alt="Inheritance graph"/></div>
+<map name="Params__GMM_inherit__map" id="Params__GMM_inherit__map">
+<area shape="rect" title=" " alt="" coords="50,81,162,107"/>
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+<area shape="rect" title=" " alt="" coords="125,6,218,33"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Params_GMM:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM__coll__graph.png" border="0" usemap="#Params__GMM_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a41013be3459e5a9118b4aa276100034d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html#a41013be3459e5a9118b4aa276100034d">__post_init__</a> (self)</td></tr>
+<tr class="separator:a41013be3459e5a9118b4aa276100034d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html">Params</a></td></tr>
+<tr class="memitem:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Params.html#a08704a0a0d017c3bc0e369ad198407e7">callable</a></td></tr>
+<tr class="separator:a08704a0a0d017c3bc0e369ad198407e7 inherit pub_static_attribs_classSurveillance_1_1layers_1_1base_1_1Params"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@param preprocess: the preprocess of the input image
+@param postprocess: post process of the detected layer mask
+</pre> </div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a41013be3459e5a9118b4aa276100034d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41013be3459e5a9118b4aa276100034d">&#9670;&nbsp;</a></span>__post_init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __post_init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html#a41013be3459e5a9118b4aa276100034d">Params</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="tabletop__seg_8py.html">tabletop_seg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  <div class="headertitle">
+<div class="title">tabletop_GMM Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<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>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a28836affa0fa9a7901ca270d33aa919c">__init__</a>(self, bgmodelGMM.bgmodelGMM_cv theDetector, Params_GMM params)</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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base_bg::Base_bg.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7afbc264f25315fb6bff8f05dc5e9bd0">Surveillance::layers::base::Base.__init__</a>(self, theDetector, theTracker, trackFilter, Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#aae68451ed52f220fcd660b0c5efb01be">build</a>(bgmodelGMM.Params_cv mParams, Params_GMM() params)</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"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a50a4d24eb4e9ccb07985e1563c99586b">calibrate</a>(self, I)</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>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a1ade44fd4633027a680eae6c5c878b16">det_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ac9e40ee63bae4d2b96a13889c1962ed7">draw_layer</a>(self, img=None, raw_detect=False, ax=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a7e9f25e26eb3fd8a28187b4fee04f7e1">get_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#adf1f4fd59e6ea40d38c2b677a757007f">get_state</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#abd3b4dab30ed613b063ee4fa5b566f2a">layer_mask_det</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#aed7f15e6db9ac45a9872f61d77ade4c0">layer_state</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#ad17eaba369e442d6a16fa52f3cb41762">measure</a>(self, I)</td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><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>
+</table></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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diff --git a/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html b/docs/classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html
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+<title>IVALab Python Libraries: tabletop_GMM Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers_1_1tabletop__seg.html">tabletop_seg</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html">tabletop_GMM</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">tabletop_GMM Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for tabletop_GMM:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM__inherit__graph.png" border="0" usemap="#tabletop__GMM_inherit__map" alt="Inheritance graph"/></div>
+<map name="tabletop__GMM_inherit__map" id="tabletop__GMM_inherit__map">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for tabletop_GMM:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM__coll__graph.png" border="0" usemap="#tabletop__GMM_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a28836affa0fa9a7901ca270d33aa919c"><td class="memItemLeft" align="right" valign="top">None&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#a28836affa0fa9a7901ca270d33aa919c">__init__</a> (self, bgmodelGMM.bgmodelGMM_cv theDetector, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
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+<tr class="inherit_header pub_methods_classSurveillance_1_1layers_1_1base__bg_1_1Base__bg"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classSurveillance_1_1layers_1_1base__bg_1_1Base__bg')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html">Base_bg</a></td></tr>
+<tr class="memitem:a7afbc264f25315fb6bff8f05dc5e9bd0 inherit pub_methods_classSurveillance_1_1layers_1_1base__bg_1_1Base__bg"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Base__bg.html#a7afbc264f25315fb6bff8f05dc5e9bd0">__init__</a> (self, theDetector, theTracker, trackFilter, <a class="el" href="classSurveillance_1_1layers_1_1base__bg_1_1Params.html">Params</a> <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:aae68451ed52f220fcd660b0c5efb01be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1tabletop__GMM.html#aae68451ed52f220fcd660b0c5efb01be">build</a> (bgmodelGMM.Params_cv mParams, <a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a>() <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a41000f175dc0115080e2a682cc06dbe9">params</a>)</td></tr>
+<tr class="separator:aae68451ed52f220fcd660b0c5efb01be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a706fbc5a34b642746161e83b5518afbc inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base_1_1Base.html#a706fbc5a34b642746161e83b5518afbc">layer_mask</a></td></tr>
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+<tr class="separator:aed7f15e6db9ac45a9872f61d77ade4c0 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classSurveillance_1_1layers_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The background layer segmenter based on the Gaussian Mixture model(GMM)
+
+@param[in]  theDetector         detector.bgmodel.bgmodelGMM.bgmodelGMM_cv instance. The detector based on the GMM
+@param[in]  params              tabletop_seg.Params_GMM instance.
+                                The parameters related to the segmenter, including the preprocessor, postprocess, etc.
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a28836affa0fa9a7901ca270d33aa919c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28836affa0fa9a7901ca270d33aa919c">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"> None __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bgmodelGMM.bgmodelGMM_cv&#160;</td>
+          <td class="paramname"><em>theDetector</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aae68451ed52f220fcd660b0c5efb01be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae68451ed52f220fcd660b0c5efb01be">&#9670;&nbsp;</a></span>build()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def build </td>
+          <td>(</td>
+          <td class="paramtype">bgmodelGMM.Params_cv&#160;</td>
+          <td class="paramname"><em>mParams</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1layers_1_1tabletop__seg_1_1Params__GMM.html">Params_GMM</a>()&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">Build a tabletop_GMM instance
+
+@param[in]  mParams         The model parameters related to the Gaussian Mixture Model
+</pre> 
+</div>
+</div>
+<a id="a50a4d24eb4e9ccb07985e1563c99586b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50a4d24eb4e9ccb07985e1563c99586b">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Calibrate the GMM model parameter
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/layers/<a class="el" href="tabletop__seg_8py.html">tabletop_seg.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1configs.html">configs</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html">CfgNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classSurveillance_1_1utils_1_1configs_1_1CfgNode-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgNode Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for CfgNode:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1utils_1_1configs_1_1CfgNode__inherit__graph.png" border="0" usemap="#CfgNode_inherit__map" alt="Inheritance graph"/></div>
+<map name="CfgNode_inherit__map" id="CfgNode_inherit__map">
+<area shape="rect" title=" " alt="" coords="9,80,87,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,91,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgNode:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1utils_1_1configs_1_1CfgNode__coll__graph.png" border="0" usemap="#CfgNode_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="9,80,87,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,91,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40212edf9eb89c9bbf7fef90d14fa05f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1configs_1_1CfgNode.html#a40212edf9eb89c9bbf7fef90d14fa05f">merge_from_files</a> (self, cfg_files)</td></tr>
+<tr class="separator:a40212edf9eb89c9bbf7fef90d14fa05f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">Derived from the yacs CfgNode class to add new features
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a40212edf9eb89c9bbf7fef90d14fa05f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40212edf9eb89c9bbf7fef90d14fa05f">&#9670;&nbsp;</a></span>merge_from_files()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def merge_from_files </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cfg_files</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Merge from multiple files
+
+Args:
+    cfg_files (list):   A list of cfg file paths
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="configs_8py.html">configs.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">def __init__ </td>
+          <td>(</td>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intrinsic</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
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+        </tr>
+      </table>
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+</div>
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+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a47ffe5516812829bc638d67b2fca88ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a47ffe5516812829bc638d67b2fca88ea">&#9670;&nbsp;</a></span>apply()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def apply </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth_frame</em>&#160;</td>
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+        <tr>
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+          <td>)</td>
+          <td></td><td></td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a0b1f346fbf061cc57de33ac90e6d8105">&#9670;&nbsp;</a></span>calibrate()</h2>
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+<div class="memitem">
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+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth_map</em>&#160;</td>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief          Mask-based region growing (from smaller mask into larger mask).
+
+    The criteria is logical true in the mask 
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa97cef5be022892a61fe8176d75c0d2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa97cef5be022892a61fe8176d75c0d2d">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html">RG_Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_base</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="region__grow_8py.html">region_grow.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+</a> 1.8.17
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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1MaskGrower__coll__graph.map b/docs/classSurveillance_1_1utils_1_1region__grow_1_1MaskGrower__coll__graph.map
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new file mode 100644
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
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+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1region__grow.html">region_grow</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html">RG_Params</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">RG_Params Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a6a1bb6ed41f44b60e7bd83b0e9945aa7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">float</a></td></tr>
+<tr class="separator:a6a1bb6ed41f44b60e7bd83b0e9945aa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61569f2965b7a369eb10b6d75d410d11"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html#a61569f2965b7a369eb10b6d75d410d11">int</a></td></tr>
+<tr class="separator:a61569f2965b7a369eb10b6d75d410d11"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">The parameters for the region growers
+
+@param[in]  k_neigb             How many connected pixels to check for each seed. Default=8
+@param[in]  th_val              For value difference based region grower. The threshold for the absolute value difference
+@param[in]  th_var              For value difference based region grower. The threshold for the absolute value difference is obtained by 
+                                seeds variance times the th_var
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6a1bb6ed41f44b60e7bd83b0e9945aa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a1bb6ed41f44b60e7bd83b0e9945aa7">&#9670;&nbsp;</a></span>float</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">float</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a61569f2965b7a369eb10b6d75d410d11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61569f2965b7a369eb10b6d75d410d11">&#9670;&nbsp;</a></span>int</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int</td>
+        </tr>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="region__grow_8py.html">region_grow.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html
new file mode 100644
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+++ b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1region__grow.html">region_grow</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">RegionGrower_ValDiff Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#aa97cef5be022892a61fe8176d75c0d2d">__init__</a>(self, RG_Params params)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a74e5d8981d7da5824730ab274bb01653">cache_img</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#ac51ac6ba6e1b68ab25171eb429398994">cache_map</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a1c6be8a08fb658321227cbd12377815f">display_results</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2ae9de5bc2db74a603a01ed055c193bf">final_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a531f6508fd8181b76ca31e8bc1f46818">get_final_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a5c186419606f7e9348f132446a060b46">get_init_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2bcd0f8ab1dc1afdb454a423edc21dfd">init_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0871a342883b19ea340667d18b00dd50">neigb</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0b84a68abf1941507b350506ad34729b">process_mask</a>(self, img, mask, mask_rej=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa35b1253d695aaf7a9e3d8e727227826">process_seeds</a>(self, img, seeds, rejects=[])</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a594fc86eee42e5c9365bd6dbbcc6c1fc">reg_avg</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0431a4368c16813f7b030fcadb32b139">reg_var</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a04ad0c39d7ca422dd9fd5a74e06af4e2">seed_list</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#a5e40e7fc3fad61ae046a769c60dde68f">th_val</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#a69f670995fcaa569fb8dd0a88051109c">th_var</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: RegionGrower_ValDiff Class 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>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1region__grow.html">region_grow</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html">RegionGrower_ValDiff</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">RegionGrower_ValDiff Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for RegionGrower_ValDiff:</div>
+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff__inherit__graph.png" border="0" usemap="#RegionGrower__ValDiff_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff__coll__graph.png" border="0" usemap="#RegionGrower__ValDiff_coll__map" alt="Collaboration graph"/></div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aa97cef5be022892a61fe8176d75c0d2d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__ValDiff.html#aa97cef5be022892a61fe8176d75c0d2d">__init__</a> (self, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html">RG_Params</a> params)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief          The value difference based region grower
+
+    The criteria is thresholding the difference between new candidate seed value and the avarage seed value
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa97cef5be022892a61fe8176d75c0d2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa97cef5be022892a61fe8176d75c0d2d">&#9670;&nbsp;</a></span>__init__()</h2>
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+          <td class="paramname"><em>self</em>, </td>
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+        <tr>
+          <td class="paramkey"></td>
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+<p>Reimplemented from <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa97cef5be022892a61fe8176d75c0d2d">RegionGrower_base</a>.</p>
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+<a id="a5e40e7fc3fad61ae046a769c60dde68f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e40e7fc3fad61ae046a769c60dde68f">&#9670;&nbsp;</a></span>th_val</h2>
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1region__grow.html">region_grow</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">RegionGrower_base Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a74e5d8981d7da5824730ab274bb01653">cache_img</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#ac51ac6ba6e1b68ab25171eb429398994">cache_map</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a1c6be8a08fb658321227cbd12377815f">display_results</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2ae9de5bc2db74a603a01ed055c193bf">final_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a531f6508fd8181b76ca31e8bc1f46818">get_final_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a5c186419606f7e9348f132446a060b46">get_init_mask</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a2bcd0f8ab1dc1afdb454a423edc21dfd">init_mask</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0871a342883b19ea340667d18b00dd50">neigb</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0b84a68abf1941507b350506ad34729b">process_mask</a>(self, img, mask, mask_rej=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html">RegionGrower_base</a></td><td class="entry"></td></tr>
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diff --git a/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html b/docs/classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">RegionGrower_base Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for RegionGrower_base:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:aa97cef5be022892a61fe8176d75c0d2d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#aa97cef5be022892a61fe8176d75c0d2d">__init__</a> (self, <a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html">RG_Params</a> params)</td></tr>
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+<tr class="memitem:a0431a4368c16813f7b030fcadb32b139"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RegionGrower__base.html#a0431a4368c16813f7b030fcadb32b139">reg_var</a></td></tr>
+<tr class="separator:a0431a4368c16813f7b030fcadb32b139"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a04ad0c39d7ca422dd9fd5a74e06af4e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief      The base class for all the region grower class.
+
+The Region Grow algorithm assumes that a target area is a connected area. 
+The algorithm starts from some initial target pixels (seeds), 
+and then attempts to grow out the whole target region based on some criteria
+
+This base class codes up the region grow algorithm process for extracting the target region:
+
+1. Initialize from a single pixel or a binary mask, whose pixels will be marked as target pixels 
+    and as "seed" (term for the accepted target pixels whose neighbor pixels have not been examined)
+2. while (seed list is not empty):
+    2.1     pop out a seed and check its neighborhood pixels.
+    2.2     for each neighbor, if it is out of bounadry, or already been marked as accepted or discarded, then pass
+    2.3     for each neighbor, if it can pass some criteria, then mark as accepted and add to the seed list
+                                else mark as discarded and continue</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa97cef5be022892a61fe8176d75c0d2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa97cef5be022892a61fe8176d75c0d2d">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classSurveillance_1_1utils_1_1region__grow_1_1RG__Params.html">RG_Params</a>&#160;</td>
+          <td class="paramname"><em>params</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1c6be8a08fb658321227cbd12377815f">&#9670;&nbsp;</a></span>display_results()</h2>
+
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+          <td></td>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_final_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a5c186419606f7e9348f132446a060b46">&#9670;&nbsp;</a></span>get_init_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_init_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0b84a68abf1941507b350506ad34729b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b84a68abf1941507b350506ad34729b">&#9670;&nbsp;</a></span>process_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask_rej</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Region grow from an initial mask
+
+@param[in] img         The image to apply the algorithm
+@param[in] mask        A initial binary mask in numpy. The same shape as the image
+</pre> 
+</div>
+</div>
+<a id="aa35b1253d695aaf7a9e3d8e727227826"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa35b1253d695aaf7a9e3d8e727227826">&#9670;&nbsp;</a></span>process_seeds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process_seeds </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>seeds</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rejects</em> = <code>[]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Region grow from a list of initial seeds
+
+@param[in] img          The image to apply the algorithm
+@param[in] seeds        (N, 2). 2: (row, col). A list of the initial seed coordinates
+@param[in] rejects      (N, 2). 2: (row, col). A list of discarded pixels that the algorithm shouldn't grow to
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a74e5d8981d7da5824730ab274bb01653"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74e5d8981d7da5824730ab274bb01653">&#9670;&nbsp;</a></span>cache_img</h2>
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+</div>
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+<a id="a2ae9de5bc2db74a603a01ed055c193bf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ae9de5bc2db74a603a01ed055c193bf">&#9670;&nbsp;</a></span>final_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">final_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2bcd0f8ab1dc1afdb454a423edc21dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2bcd0f8ab1dc1afdb454a423edc21dfd">&#9670;&nbsp;</a></span>init_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">init_mask</td>
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+</div>
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+<a id="a0871a342883b19ea340667d18b00dd50"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0871a342883b19ea340667d18b00dd50">&#9670;&nbsp;</a></span>neigb</h2>
+
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+          <td class="memname">neigb</td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a594fc86eee42e5c9365bd6dbbcc6c1fc">&#9670;&nbsp;</a></span>reg_avg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">reg_avg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0431a4368c16813f7b030fcadb32b139"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0431a4368c16813f7b030fcadb32b139">&#9670;&nbsp;</a></span>reg_var</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">reg_var</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
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+<a id="a04ad0c39d7ca422dd9fd5a74e06af4e2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a04ad0c39d7ca422dd9fd5a74e06af4e2">&#9670;&nbsp;</a></span>seed_list</h2>
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+<div class="memitem">
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="region__grow_8py.html">region_grow.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="specifications_8py.html">specifications.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html b/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1utils_1_1transform.html">transform</a></li><li class="navelem"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">frameTransformer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac9b73787395eeec8c4ee9d07f0baa61f">__init__</a>(self, M_intrinsic=None, M_WtoC=None, M_WtoR=None, M_BEV=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">M_BEV</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ad31de1cf2df4249c634663229eee71de">M_int</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a></td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a0278f74e7c51cadb10507dbd45262f94">parseDepth</a>(self, depth_map)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a790f3b7691237c2621744e477c6733c5">parsePBEV</a>(self, coords, deps=None)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a339718f0a61188ced460a2aecfc186fa">parsePCam</a>(self)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac64bca68655166739ce7c34da8d04122">parsePImg</a>(self, coords, deps)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#aee8400cfb29cd9dfbd5caef732bb3fa1">parsePRob</a>(self, robot_coords)</td><td class="entry"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html">frameTransformer</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html b/docs/classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: frameTransformer Class 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>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">frameTransformer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:ac9b73787395eeec8c4ee9d07f0baa61f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac9b73787395eeec8c4ee9d07f0baa61f">__init__</a> (self, M_intrinsic=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a>=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a>=None, <a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">M_BEV</a>=None)</td></tr>
+<tr class="separator:ac9b73787395eeec8c4ee9d07f0baa61f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0278f74e7c51cadb10507dbd45262f94"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a0278f74e7c51cadb10507dbd45262f94">parseDepth</a> (self, depth_map)</td></tr>
+<tr class="separator:a0278f74e7c51cadb10507dbd45262f94"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a790f3b7691237c2621744e477c6733c5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a790f3b7691237c2621744e477c6733c5">parsePBEV</a> (self, coords, deps=None)</td></tr>
+<tr class="separator:a790f3b7691237c2621744e477c6733c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a339718f0a61188ced460a2aecfc186fa"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a339718f0a61188ced460a2aecfc186fa">parsePCam</a> (self)</td></tr>
+<tr class="separator:a339718f0a61188ced460a2aecfc186fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac64bca68655166739ce7c34da8d04122"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ac64bca68655166739ce7c34da8d04122">parsePImg</a> (self, coords, deps)</td></tr>
+<tr class="separator:ac64bca68655166739ce7c34da8d04122"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee8400cfb29cd9dfbd5caef732bb3fa1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#aee8400cfb29cd9dfbd5caef732bb3fa1">parsePRob</a> (self, robot_coords)</td></tr>
+<tr class="separator:aee8400cfb29cd9dfbd5caef732bb3fa1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a3190a2fa77e1caab20b4d2feba26afeb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a3190a2fa77e1caab20b4d2feba26afeb">M_BEV</a></td></tr>
+<tr class="separator:a3190a2fa77e1caab20b4d2feba26afeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad31de1cf2df4249c634663229eee71de"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#ad31de1cf2df4249c634663229eee71de">M_int</a></td></tr>
+<tr class="separator:ad31de1cf2df4249c634663229eee71de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7c7c11023a7c19137453a86502d6ec27"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a7c7c11023a7c19137453a86502d6ec27">M_WtoC</a></td></tr>
+<tr class="separator:a7c7c11023a7c19137453a86502d6ec27"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a2fcd10c842b7ea4f70454960db6a3a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1utils_1_1transform_1_1frameTransformer.html#a9a2fcd10c842b7ea4f70454960db6a3a">M_WtoR</a></td></tr>
+<tr class="separator:a9a2fcd10c842b7ea4f70454960db6a3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">In a world composed of a depth camera, robot, and a defined world frame, 
+the frameTransformer handels the transformation between the image frame, camera frame, tabletop frame, and the robot frame.
+The image and camera frame follow the OpenCV definition
+
+The transformation matrix required to complish the task:
+1. M_intrinsic: The camera intrinsic matrix, which is the camera-to-image transformation (double direction). P_I = M_int * P_C
+2. M_WtoC: The world-to-camera transformation. One example is using the Aruco tag. P_C = M_WtoC * P_W
+3. M_WtoR: The world-to-robot transformation. P_R = M_WtoR * P_W
+4. M_BEV: The image-to-BEV transformation.  P_BEV = M_BEV * P_I
+
+Args:
+    M_intrinsic ((3,3)): The 3-by-3 intrinsic matrix
+    M_WtoC ((4, 4)): The 4-by-4 homogeneous camera-to-world intrinsic matrix
+    M_WtoR ((4, 4)): The 4-by-4 homogeneous world-to-robot intrinsic matrix
+    BEV_mat ((3, 3)): The Bird-eye-view transformation matrix
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac9b73787395eeec8c4ee9d07f0baa61f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b73787395eeec8c4ee9d07f0baa61f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_intrinsic</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoC</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_WtoR</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M_BEV</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0278f74e7c51cadb10507dbd45262f94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0278f74e7c51cadb10507dbd45262f94">&#9670;&nbsp;</a></span>parseDepth()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parseDepth </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth_map</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse all the pixel coordinates from a depth map
+
+Args:
+    depth_map ((H, W)): The depth map
+Returns:
+    pC_map  ((H, W, 3)): The camera frame coordinate
+    pW_map  ((H, W, 3)): The world frame coordinate
+    pR_map  ((H, W, 3)): The robot frame coordinate
+</pre> 
+</div>
+</div>
+<a id="a790f3b7691237c2621744e477c6733c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a790f3b7691237c2621744e477c6733c5">&#9670;&nbsp;</a></span>parsePBEV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePBEV </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>deps</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the Bird-eye-view(BEV) coordinates
+
+Args:
+    coords ((N, 2)):        The BEV coordinates 
+    deps ((N,), optional):  The deps at the corresponding locations
+Returns
+    p_I ((N, 2)):           The image frame coordinates
+    p_C [(N, 3)]:           The camera frame coordinates (x, y, z)
+    p_W [(N, 3)]:           The world frame coordinates (x, y, z)
+    p_R [(N, 3)]:           The robot frame coordinates (x, y, z)
+</pre> 
+</div>
+</div>
+<a id="a339718f0a61188ced460a2aecfc186fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a339718f0a61188ced460a2aecfc186fa">&#9670;&nbsp;</a></span>parsePCam()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePCam </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac64bca68655166739ce7c34da8d04122"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64bca68655166739ce7c34da8d04122">&#9670;&nbsp;</a></span>parsePImg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePImg </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>deps</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the image frame coordinate and get the coordinate in camera, world, and robot frame if applicable.
+The function requires both the image frame coordinate (u, v) and the depth value w.r.t. the camera.
+Without the depth, one image frame point will corresponds to a line in the 3D space
+
+Args:
+    coords (np.ndarray, (N, 2)): The (u, v) image frame coordinates. N is the query number
+    deps (np.ndarray, (N, )): The depth value cooresponds to the coords
+
+Returns:
+    p_C [(N, 3)]: The camera frame coordinates (x, y, z)
+    p_W [(N, 3)]: The world frame coordinates (x, y, z)
+    p_R [(N, 3)]: The robot frame coordinates (x, y, z)
+</pre> 
+</div>
+</div>
+<a id="aee8400cfb29cd9dfbd5caef732bb3fa1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee8400cfb29cd9dfbd5caef732bb3fa1">&#9670;&nbsp;</a></span>parsePRob()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def parsePRob </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>robot_coords</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Parse the robot frame coordinate and get the coordinate in world, image, and camera frame if applicable.
+Args:
+    robot_coords (np.ndarray, (N, 3)): The robot frame coordinates. N is the query number
+
+Returns:
+    p_W [(N, 3)]: The world frame coordinates (x, y, z)
+    p_C [(N, 3)]: The camera frame coordinates (x, y, z)
+    p_Img [(N, 2)]: The image frame coordinates (u, v)
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3190a2fa77e1caab20b4d2feba26afeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3190a2fa77e1caab20b4d2feba26afeb">&#9670;&nbsp;</a></span>M_BEV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_BEV</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad31de1cf2df4249c634663229eee71de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad31de1cf2df4249c634663229eee71de">&#9670;&nbsp;</a></span>M_int</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_int</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7c7c11023a7c19137453a86502d6ec27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7c7c11023a7c19137453a86502d6ec27">&#9670;&nbsp;</a></span>M_WtoC</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_WtoC</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9a2fcd10c842b7ea4f70454960db6a3a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a2fcd10c842b7ea4f70454960db6a3a">&#9670;&nbsp;</a></span>M_WtoR</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">M_WtoR</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/Surveillance/Surveillance/utils/<a class="el" href="transform_8py.html">transform.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacehistogram.html">histogram</a></li><li class="navelem"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Histogram Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classhistogram_1_1Histogram.html">Histogram</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a06eb6be7f5ba77479993c01e1bb5c716">__init__</a>(self, tau=0.3)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a8e41badc6985aa519d297aeecd41d277">colorFeaExtract</a>(piece)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Histogram Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacehistogram.html">histogram</a></li><li class="navelem"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classhistogram_1_1Histogram-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Histogram Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Histogram:</div>
+<div class="dyncontent">
+<div class="center"><img src="classhistogram_1_1Histogram__inherit__graph.png" border="0" usemap="#Histogram_inherit__map" alt="Inheritance graph"/></div>
+<map name="Histogram_inherit__map" id="Histogram_inherit__map">
+<area shape="rect" title=" " alt="" coords="20,80,111,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,125,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Histogram:</div>
+<div class="dyncontent">
+<div class="center"><img src="classhistogram_1_1Histogram__coll__graph.png" border="0" usemap="#Histogram_coll__map" alt="Collaboration graph"/></div>
+<map name="Histogram_coll__map" id="Histogram_coll__map">
+<area shape="rect" title=" " alt="" coords="20,80,111,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,125,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a06eb6be7f5ba77479993c01e1bb5c716"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a06eb6be7f5ba77479993c01e1bb5c716">__init__</a> (self, tau=0.3)</td></tr>
+<tr class="separator:a06eb6be7f5ba77479993c01e1bb5c716"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a8e41badc6985aa519d297aeecd41d277"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html#a8e41badc6985aa519d297aeecd41d277">colorFeaExtract</a> (piece)</td></tr>
+<tr class="separator:a8e41badc6985aa519d297aeecd41d277"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a06eb6be7f5ba77479993c01e1bb5c716"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06eb6be7f5ba77479993c01e1bb5c716">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>0.3</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece histogram class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8e41badc6985aa519d297aeecd41d277"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8e41badc6985aa519d297aeecd41d277">&#9670;&nbsp;</a></span>colorFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def colorFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute histogram from the raw puzzle data.
+       See https://opencv-tutorial.readthedocs.io/en/latest/histogram/histogram.html
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    hist: The histogram.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: Distance.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="histogram_8py.html">histogram.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classhistogram_1_1Histogram__coll__graph.map b/docs/classhistogram_1_1Histogram__coll__graph.map
new file mode 100644
index 00000000..181f6ea3
--- /dev/null
+++ b/docs/classhistogram_1_1Histogram__coll__graph.map
@@ -0,0 +1,4 @@
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diff --git a/docs/classhistogram_1_1Histogram__coll__graph.md5 b/docs/classhistogram_1_1Histogram__coll__graph.md5
new file mode 100644
index 00000000..5b26d5a2
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Moments Member List</div>  </div>
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+  <tr class="even"><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a0d3dad4fd87cecd60ad98b8c7a25c979">__init__</a>(self, tau=5)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classmoments_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classmoments_1_1Moments.html#aeb06517271392f6437626683874f0ea4">shapeFeaExtract</a>(piece)</td><td class="entry"><a class="el" href="classmoments_1_1Moments.html">Moments</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classmoments_1_1Moments-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Moments Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Moments:</div>
+<div class="dyncontent">
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+<div class="dynheader">
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+<tr class="separator:aeb06517271392f6437626683874f0ea4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0d3dad4fd87cecd60ad98b8c7a25c979"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d3dad4fd87cecd60ad98b8c7a25c979">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece moments class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: Distance.
+</pre> 
+</div>
+</div>
+<a id="aeb06517271392f6437626683874f0ea4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeb06517271392f6437626683874f0ea4">&#9670;&nbsp;</a></span>shapeFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def shapeFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute moments from the raw puzzle data.
+See https://learnopencv.com/shape-matching-using-hu-moments-c-python/
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    huMoments: A list of huMoments value.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="moments_8py.html">moments.py</a></li>
+</ul>
+</div><!-- contents -->
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepca.html">pca</a></li><li class="navelem"><a class="el" href="classpca_1_1PCA.html">PCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PCA Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpca_1_1PCA.html">PCA</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpca_1_1PCA.html#a8951b0294dfbcf19b4b4da5a6895eaa3">__init__</a>(self, tau=-float('inf'))</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpca_1_1PCA.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpca_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpca_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+</table></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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+<title>IVALab Python Libraries: PCA Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpca_1_1PCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpca_1_1PCA__inherit__graph.png" border="0" usemap="#PCA_inherit__map" alt="Inheritance graph"/></div>
+<map name="PCA_inherit__map" id="PCA_inherit__map">
+<area shape="rect" title=" " alt="" coords="41,80,89,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,125,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpca_1_1PCA__coll__graph.png" border="0" usemap="#PCA_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,5,125,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a8951b0294dfbcf19b4b4da5a6895eaa3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a8951b0294dfbcf19b4b4da5a6895eaa3">__init__</a> (self, tau=-float('inf'))</td></tr>
+<tr class="separator:a8951b0294dfbcf19b4b4da5a6895eaa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpca_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a8951b0294dfbcf19b4b4da5a6895eaa3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8951b0294dfbcf19b4b4da5a6895eaa3">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>-float('inf')</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece pca class.
+
+Args:
+    tau: The threshold param to determine difference.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob.
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+
+Args:
+    img: A mask image.
+
+Returns:
+    dict: A dict saving centerized points, main vectors.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute PCA feature from the raw puzzle data.
+
+Args:
+    piece: A puzzleTemplate instance saving a passed puzzle piece's info
+
+Returns:
+    The rotation of the main vector.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    distance: The degree distance between passed puzzle piece data and stored puzzle piece. (counter-clockwise)
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/redone/<a class="el" href="pca_8py.html">pca.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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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: Member List</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>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Board Member List</div>  </div>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+<script type="text/javascript">
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1board_1_1Board-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Board Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Class description for a board, which is a locality sensitive bag.  
+ <a href="classpuzzle_1_1board_1_1Board.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for Board:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1board_1_1Board__inherit__graph.png" border="0" usemap="#Board_inherit__map" alt="Inheritance graph"/></div>
+<map name="Board_inherit__map" id="Board_inherit__map">
+<area shape="rect" title="Class description for a board, which is a locality sensitive bag." alt="" coords="29,5,89,32"/>
+<area shape="rect" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html" title=" " alt="" coords="5,80,112,107"/>
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+<area shape="rect" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html" title=" " alt="" coords="9,229,108,256"/>
+<area shape="rect" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html" title=" " alt="" coords="22,304,95,331"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a68e8bac9ad64753ca6365f34b888a5cb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">__init__</a> (self, *argv)</td></tr>
+<tr class="memdesc:a68e8bac9ad64753ca6365f34b888a5cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for puzzle board.  <a href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">More...</a><br /></td></tr>
+<tr class="separator:a68e8bac9ad64753ca6365f34b888a5cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55133e3f96f797b9ee5bfbd65147c964"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a> (self, piece, ORIGINAL_ID=False)</td></tr>
+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55cdbf47e8a71df471243ba64d7eddbb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a>)</td></tr>
+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8122acdbd37682b8309b4eb42e608edc"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a> (self)</td></tr>
+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad149341d7d849ff957baee565b19c123"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a> (self)</td></tr>
+<tr class="separator:ad149341d7d849ff957baee565b19c123"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18465234ae59fa2538c1092263466b1d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a> (self, id)</td></tr>
+<tr class="memdesc:a18465234ae59fa2538c1092263466b1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get puzzle piece instance based on id.  <a href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">More...</a><br /></td></tr>
+<tr class="separator:a18465234ae59fa2538c1092263466b1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a506509f5e43fe4e2a5af20b068994191"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a> (self, indSetMeasured)</td></tr>
+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
+<tr class="memdesc:a7efb9317e5ccd2875d2d3caf45e618df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns list/array of puzzle piece locations.  <a href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">More...</a><br /></td></tr>
+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a> (self, newLabels, idContinue)</td></tr>
+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Class description for a board, which is a locality sensitive bag. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a68e8bac9ad64753ca6365f34b888a5cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68e8bac9ad64753ca6365f34b888a5cb">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">*&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for puzzle board. </p>
+<p>Can pass contents at instantiation time or delay until later.</p>
+<p>Args: *argv: The input params. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a55133e3f96f797b9ee5bfbd65147c964"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55133e3f96f797b9ee5bfbd65147c964">&#9670;&nbsp;</a></span>addPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ORIGINAL_ID</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add puzzle piece instance to the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Puzzle piece instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ORIGINAL_ID</td><td>Flag indicating where to keep piece ID or re-assign. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a55cdbf47e8a71df471243ba64d7eddbb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55cdbf47e8a71df471243ba64d7eddbb">&#9670;&nbsp;</a></span>addPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieces</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Add puzzle piece to board. </p>
+
+</div>
+</div>
+<a id="a8122acdbd37682b8309b4eb42e608edc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8122acdbd37682b8309b4eb42e608edc">&#9670;&nbsp;</a></span>boundingBox()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def boundingBox </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Iterate through pieces to get tight bounding box. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">bbox</td><td>Bounding box coordinates: [[min x, min y], [max x, max y]] </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad149341d7d849ff957baee565b19c123"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad149341d7d849ff957baee565b19c123">&#9670;&nbsp;</a></span>clear()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def clear </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Clear all the puzzle pieces from the board.
+</pre> 
+</div>
+</div>
+<a id="a87fbb7809c3e6e4d305d44ba2ccf9be9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87fbb7809c3e6e4d305d44ba2ccf9be9">&#9670;&nbsp;</a></span>display_mp()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display_mp </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Display the puzzle board as an image using matplot library. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">fh</td><td>Figure handle if available. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_DISPLAY</td><td>Flag indicating displaying ID or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">CONTOUR_DISPLAY</td><td>Flag indicating drawing contour or not.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">fh</td><td>Figure handle. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af683fb9f92e8e2c12148d7e5ff1f81f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af683fb9f92e8e2c12148d7e5ff1f81f4">&#9670;&nbsp;</a></span>extents()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extents </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Iterate through puzzle pieces to get tight bounding box extents of the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">lengths</td><td>Bounding box side lengths. [x,y] </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a18465234ae59fa2538c1092263466b1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18465234ae59fa2538c1092263466b1d">&#9670;&nbsp;</a></span>getPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a> getPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get puzzle piece instance based on id. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">thePiece</td><td>Returns the puzzle piece matcing the ID (if exists) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a506509f5e43fe4e2a5af20b068994191"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a506509f5e43fe4e2a5af20b068994191">&#9670;&nbsp;</a></span>markMissing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def markMissing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>indSetMeasured</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Given set of indices to measured pieces, mark remaining as unmeasured. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">indSetMeasured</td><td>Index set indicating measured pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7efb9317e5ccd2875d2d3caf45e618df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7efb9317e5ccd2875d2d3caf45e618df">&#9670;&nbsp;</a></span>pieceLocations()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pieceLocations </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Returns list/array of puzzle piece locations. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">isCenter</td><td>Flag indicating whether the given location is for center. Otherwise, location returned is the upper left corner.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">pLocs</td><td>A dict of puzzle piece id &amp; location. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abeea55caeb9b7bd60eba4ad6f22c97db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abeea55caeb9b7bd60eba4ad6f22c97db">&#9670;&nbsp;</a></span>relabel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def relabel </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>newLabels</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>idContinue</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment. </p>
+<p>The relabel operation is to preserve label consistency over time for a board. <br  />
+ That way, when plotting or displaying the board, the display is sensible amongst other reasons. The use of iContinue is to prevent an unassigned piece from displaying its original label that might duplicate a label reassignment or even be associated to a previously seen, but currently not seen, piece. Over the long term, we want the IDs to be unique, at least for the known pieces. <br  />
+</p>
+<p>The current approach does not care to handle birth/death outcomes that result in a new piece being assigned an ID matching that of a previously new/birthed piece that then disappeared/died.</p>
+<p>It is up to the calling context to ensure that the new ID labels are correct, and that the pieces missing labels should be given new IDs starting from idContinue.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">newLabels</td><td>Should be board index to new ID tuple list. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">idContinue</td><td>Index to continue from for unmatched pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac096fa774bcfaa8a77a817da18387cd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac096fa774bcfaa8a77a817da18387cd2">&#9670;&nbsp;</a></span>rmPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rmPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Remove puzzle piece instance from board
+
+@param[in]  id  ID label of piece to remove.</pre> 
+</div>
+</div>
+<a id="a6d620a10dad91cadcb542e6098ada619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d620a10dad91cadcb542e6098ada619">&#9670;&nbsp;</a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def size </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Number of pieces on the board. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">nPieces</td><td>Number of pieces on the board. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a3095fcf90f75aca5219d31132f212c1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3095fcf90f75aca5219d31132f212c1a">&#9670;&nbsp;</a></span>testAdjacent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def testAdjacent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tauAdj</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Check if two puzzle pieces are adjacent or not. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">id_A</td><td>Id of puzzle piece A. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">id_B</td><td>Id of puzzle piece B. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">tauAdj</td><td>Distance threshold for concluding adjacency.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">adjFlag</td><td>Flag indicating adjacency of the two pieces. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad4dccb0a3f473b00b5e422d2c8165bde"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4dccb0a3f473b00b5e422d2c8165bde">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COLOR</em> = <code>(0,&#160;0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_COLOR</em> = <code>(255,&#160;255,&#160;255)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Uses puzzle piece locations to create an image for visualizing them. </p>
+<p>If given an image, then will place in it. Recommended to provide theImage &amp; BOUNDING_BOX option off. Currently, we have four cases:</p><ul>
+<li>Image provided &amp; BOUNDING_BOX off -&gt; An exact region is visible</li>
+<li>Image provided &amp; BOUNDING_BOX on -&gt; The visible region will be adjusted. Should have the same size image output.</li>
+<li>Image not provided &amp; BOUNDING_BOX off -&gt; May have some trouble if some region is out of the bounds (e.g., -2) then they will be shown on the other boundary.</li>
+<li>Image not provided &amp; BOUNDING_BOX on -&gt; A bounding box region is visible.</li>
+</ul>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theImage</td><td>Image to insert pieces into. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_DISPLAY</td><td>Flag indicating displaying ID or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">COLOR</td><td>Background color. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">ID_COLOR</td><td>ID color. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">CONTOUR_DISPLAY</td><td>Flag indicating drawing contour or not. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">BOUNDING_BOX</td><td>Flag indicating outputting a bounding box area (with updated (0,0)) or not (with original (0,0)).</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">theImage</td><td>Rendered image. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a48452c4a0df1424e4061b1ff09201621"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48452c4a0df1424e4061b1ff09201621">&#9670;&nbsp;</a></span>id_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">id_count</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a21ddfcf7ee9df16a820d99deb4fda263"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21ddfcf7ee9df16a820d99deb4fda263">&#9670;&nbsp;</a></span>pieces</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieces</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html">CfgCorrespondences</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1board_1_1CfgCorrespondences-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgCorrespondences Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>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.  
+ <a href="classpuzzle_1_1board_1_1CfgCorrespondences.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgCorrespondences:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.png" border="0" usemap="#CfgCorrespondences_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for CfgCorrespondences:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1board_1_1CfgCorrespondences__coll__graph.png" border="0" usemap="#CfgCorrespondences_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="44,5,123,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5fdbe7ff06e5299c408581d874439257"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a5fdbe7ff06e5299c408581d874439257">buildColorMatchCV</a> ()</td></tr>
+<tr class="separator:a5fdbe7ff06e5299c408581d874439257"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a370d3df9068a77a0975e9769ed7b52cc"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a370d3df9068a77a0975e9769ed7b52cc">buildNearest</a> ()</td></tr>
+<tr class="separator:a370d3df9068a77a0975e9769ed7b52cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1board_1_1CfgCorrespondences.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>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. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">AlgConfig</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5fdbe7ff06e5299c408581d874439257"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5fdbe7ff06e5299c408581d874439257">&#9670;&nbsp;</a></span>buildColorMatchCV()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildColorMatchCV </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a370d3df9068a77a0975e9769ed7b52cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a370d3df9068a77a0975e9769ed7b52cc">&#9670;&nbsp;</a></span>buildNearest()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildNearest </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.map b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.map
new file mode 100644
index 00000000..d6bcabda
--- /dev/null
+++ b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/docs/classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.md5 b/docs/classpuzzle_1_1board_1_1CfgCorrespondences__inherit__graph.md5
new file mode 100644
index 00000000..3a9bbd51
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+<div class="title">CorrespondenceParms Class Reference</div>  </div>
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+</ul>
+</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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+</a> 1.8.17
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Correspondences Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a844aa6e971fec4c085891ac1ea0cd050">__init__</a>(self, theParams=CorrespondenceParms, initBoard=None)</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#a72fbf2f30085967560d93851fdf9fe6b">adapt</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 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>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a4a39973fb0707cf0768d4fc141a4b9d2">buildMatcher</a>(typeStr, matchConfig=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <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>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a99c3313040780a1d639658ec6a96daea">correspond</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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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<title>IVALab Python Libraries: Correspondences Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1board.html">board</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html">Correspondences</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<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><!--header-->
+<div class="contents">
+
+<p>Class that compares two boards and generates correspondences across them.  
+ <a href="classpuzzle_1_1board_1_1Correspondences.html#details">More...</a></p>
+<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: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>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><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#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform correspondence correction if sensible.  <a href="classpuzzle_1_1board_1_1Correspondences.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a99c3313040780a1d639658ec6a96daea"><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#a99c3313040780a1d639658ec6a96daea">correspond</a> (self)</td></tr>
+<tr class="memdesc:a99c3313040780a1d639658ec6a96daea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get correspondences based on the most recent measurement (contained).  <a href="classpuzzle_1_1board_1_1Correspondences.html#a99c3313040780a1d639658ec6a96daea">More...</a><br /></td></tr>
+<tr class="separator:a99c3313040780a1d639658ec6a96daea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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: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>
+<tr class="memitem:a7edb71de22937abaab674842c4d8212d"><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#a7edb71de22937abaab674842c4d8212d">process</a> (self, bMeas)</td></tr>
+<tr class="memdesc:a7edb71de22937abaab674842c4d8212d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence pipeline to preserve identity of puzzle pieces.  <a href="classpuzzle_1_1board_1_1Correspondences.html#a7edb71de22937abaab674842c4d8212d">More...</a><br /></td></tr>
+<tr class="separator:a7edb71de22937abaab674842c4d8212d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a4a39973fb0707cf0768d4fc141a4b9d2"><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#a4a39973fb0707cf0768d4fc141a4b9d2">buildMatcher</a> (typeStr, matchConfig=None)</td></tr>
+<tr class="separator:a4a39973fb0707cf0768d4fc141a4b9d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a234e609ac6d4c2c67c1b828d21299747"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a234e609ac6d4c2c67c1b828d21299747">boardEstimate</a></td></tr>
+<tr class="separator:a234e609ac6d4c2c67c1b828d21299747"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a390000acbb9c0eab381cd19270505526"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a390000acbb9c0eab381cd19270505526">boardMeasurement</a></td></tr>
+<tr class="separator:a390000acbb9c0eab381cd19270505526"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac64a7c833ba3a6027b7bc4269ecf210b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ac64a7c833ba3a6027b7bc4269ecf210b">matcher</a></td></tr>
+<tr class="separator:ac64a7c833ba3a6027b7bc4269ecf210b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3646c19ac3f11a78f94b5c226e114884"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a3646c19ac3f11a78f94b5c226e114884">pAssignments</a></td></tr>
+<tr class="separator:a3646c19ac3f11a78f94b5c226e114884"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af8598bf34f1f2754aed14c35ad7da3af"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#af8598bf34f1f2754aed14c35ad7da3af">pAssignments_rotation</a></td></tr>
+<tr class="separator:af8598bf34f1f2754aed14c35ad7da3af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a69ecbb454afd7b49a65b76d8e4b4c63f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a69ecbb454afd7b49a65b76d8e4b4c63f">scoreTable</a></td></tr>
+<tr class="separator:a69ecbb454afd7b49a65b76d8e4b4c63f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4606f589063e9dd2d29744554ecc64"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a></td></tr>
+<tr class="separator:a1d4606f589063e9dd2d29744554ecc64"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a135084fd94e679ce7869e01b693b1f5b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#a135084fd94e679ce7869e01b693b1f5b">scoreType</a></td></tr>
+<tr class="separator:a135084fd94e679ce7869e01b693b1f5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3b4a5cae7c025003260aa58ef37f260"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Correspondences.html#ae3b4a5cae7c025003260aa58ef37f260">skipList</a></td></tr>
+<tr class="separator:ae3b4a5cae7c025003260aa58ef37f260"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<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>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <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>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>initBoard</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the board matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">solution</td><td>A solution/calibrated board instance. theParams: Any additional parameters in a structure. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a72fbf2f30085967560d93851fdf9fe6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72fbf2f30085967560d93851fdf9fe6b">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Perform adaptation based on correspondence as applicable. </p>
+<p>If something special in the matching model depends on an underlying representation that is evolving over time and needs adaptation, then this is the place to implement. Adaptation differs from correction in that it may represent meta-parameters that support correspondence. These meta-parameters may need adjustment also. </p>
+
+</div>
+</div>
+<a id="a4a39973fb0707cf0768d4fc141a4b9d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a39973fb0707cf0768d4fc141a4b9d2">&#9670;&nbsp;</a></span>buildMatcher()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildMatcher </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>typeStr</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchConfig</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Perform correspondence correction if sensible. </p>
+<p>If the correspondences rely on information that evolves in time and should be filtered or updated, this is where that gets implemented. Actions to occur here:</p>
+<ol type="1">
+<li>Update puzzle piece information (raw and feature).</li>
+<li>Relabel the measured board to reflect association with known pieces.</li>
+<li>Relabel status of estimated board to reflect status of (not) measured pieces. </li>
+</ol>
+
+</div>
+</div>
+<a id="a99c3313040780a1d639658ec6a96daea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a99c3313040780a1d639658ec6a96daea">&#9670;&nbsp;</a></span>correspond()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correspond </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get correspondences based on the most recent measurement (contained). </p>
+
+</div>
+</div>
+<a id="ac4072d8bdf7b51b32fdc6e6523f9cd6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4072d8bdf7b51b32fdc6e6523f9cd6b">&#9670;&nbsp;</a></span>greedyAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def greedyAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run the greedyAssignment for the score table. </p>
+<p>Args: scoreTable_shape: The score table for the pairwise comparison (shape). scoreTable_color: The score table for the pairwise comparison (color). scoreTable_edge_color: The score table for the pairwise comparison (edge_color).</p>
+<p>Returns: matched_id: The matched pair dict. </p>
+
+</div>
+</div>
+<a id="a0ce58078687848aeeb74c0de5aef04dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ce58078687848aeeb74c0de5aef04dd">&#9670;&nbsp;</a></span>hungarianAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def hungarianAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run Hungarian Assignment for the score table. </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">[out]</td><td class="paramname">matched_id</td><td>Matched pair dict. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="adb50fb92faf8f50eb95a8bccc5317b70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb50fb92faf8f50eb95a8bccc5317b70">&#9670;&nbsp;</a></span>matchPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def matchPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Match all the measured puzzle pieces with board prior in a pairwise manner to get meas to prior. </p>
+<p>Only gets matches, does not act on them.</p>
+<p>The matching outcome is internally stored in member variable (pAssignments). </p>
+
+</div>
+</div>
+<a id="a7edb71de22937abaab674842c4d8212d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7edb71de22937abaab674842c4d8212d">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bMeas</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run correspondence pipeline to preserve identity of puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">bMeas</td><td>Measured board. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a234e609ac6d4c2c67c1b828d21299747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a234e609ac6d4c2c67c1b828d21299747">&#9670;&nbsp;</a></span>boardEstimate</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">boardEstimate</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a390000acbb9c0eab381cd19270505526"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a390000acbb9c0eab381cd19270505526">&#9670;&nbsp;</a></span>boardMeasurement</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">boardMeasurement</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac64a7c833ba3a6027b7bc4269ecf210b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64a7c833ba3a6027b7bc4269ecf210b">&#9670;&nbsp;</a></span>matcher</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">matcher</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3646c19ac3f11a78f94b5c226e114884"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3646c19ac3f11a78f94b5c226e114884">&#9670;&nbsp;</a></span>pAssignments</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pAssignments</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af8598bf34f1f2754aed14c35ad7da3af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8598bf34f1f2754aed14c35ad7da3af">&#9670;&nbsp;</a></span>pAssignments_rotation</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pAssignments_rotation</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a69ecbb454afd7b49a65b76d8e4b4c63f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69ecbb454afd7b49a65b76d8e4b4c63f">&#9670;&nbsp;</a></span>scoreTable</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreTable</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1d4606f589063e9dd2d29744554ecc64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d4606f589063e9dd2d29744554ecc64">&#9670;&nbsp;</a></span>scoreTable_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreTable_shape</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a135084fd94e679ce7869e01b693b1f5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a135084fd94e679ce7869e01b693b1f5b">&#9670;&nbsp;</a></span>scoreType</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3b4a5cae7c025003260aa58ef37f260"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3b4a5cae7c025003260aa58ef37f260">&#9670;&nbsp;</a></span>skipList</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">skipList</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="board_8py.html">board.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">adjacent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Adjacent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">__init__</a>(self, theBoard=[], theParams=CfgAdjacent)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">puzzle::board::Board.__init__</a>(self, *argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Adjacent Class 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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Adjacent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
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+<div class="dyncontent">
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+<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:abf251dca25f883392c156c721634a851"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a>)</td></tr>
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+<tr class="separator:a5a3fa76a9831e19483a5463e00ed0792"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a68e8bac9ad64753ca6365f34b888a5cb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a> (self, id)</td></tr>
+<tr class="memdesc:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get puzzle piece instance based on id.  <a href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">More...</a><br /></td></tr>
+<tr class="separator:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a> (self, indSetMeasured)</td></tr>
+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
+<tr class="memdesc:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns list/array of puzzle piece locations.  <a href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">More...</a><br /></td></tr>
+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a> (self, newLabels, idContinue)</td></tr>
+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a> (theImage, theMask, theParams=None)</td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a453b1916e9e176841e6ff087b90fa3c0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a> (theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed35d4479db6b7728642a0fcde86067d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="abf251dca25f883392c156c721634a851"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf251dca25f883392c156c721634a851">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Constructor for the puzzle.builder.adjacent class.
+
+Args:
+    theBoard: The input board instance.
+    theParams: The params.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">Gridded</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#adc5838fd745811d801a6b5a7b6a230df">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a453b1916e9e176841e6ff087b90fa3c0">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a453b1916e9e176841e6ff087b90fa3c0">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The adjacent puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">Arrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a5a3fa76a9831e19483a5463e00ed0792"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5a3fa76a9831e19483a5463e00ed0792">&#9670;&nbsp;</a></span>processAdjacency()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def processAdjacency </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the solution board and determine what pieces are
+adjacent or "close enough." It will determine the adjacency
+matrix.
+
+Assume that adjacent matrix has been instantiated and what is
+needed is to populate its values with the correct ones.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a36fb9e2f41b90386b06c22779f628279"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36fb9e2f41b90386b06c22779f628279">&#9670;&nbsp;</a></span>adjMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">adjMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<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 -->
+<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
+</small></address>
+</body>
+</html>
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1adjacent.html">adjacent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgAdjacent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html">CfgAdjacent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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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+</a> 1.8.17
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diff --git a/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html b/docs/classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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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: CfgAdjacent Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgAdjacent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<p>Configuration setting specifier for Arrangement.  
+ <a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgAdjacent:</div>
+<div class="dyncontent">
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+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td></tr>
+<tr class="memitem:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a> ()</td></tr>
+<tr class="separator:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for Arrangement. </p>
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+        <tr>
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+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a418793636fd792a2b17e86fc767ccb78">CfgArrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">CfgGridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">CfgInterlocking</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgArrangement</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgInterlocking</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<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 -->
+<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
+</small></address>
+</body>
+</html>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1arrangement.html">arrangement</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Arrangement Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>IVALab Python Libraries: Arrangement Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Arrangement Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Arrangement:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement__inherit__graph.png" border="0" usemap="#Arrangement_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html" title=" " alt="" coords="19,155,98,181"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Arrangement:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement__coll__graph.png" border="0" usemap="#Arrangement_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,80,112,107"/>
+<area shape="rect" href="classpuzzle_1_1board_1_1Board.html" title="Class description for a board, which is a locality sensitive bag." alt="" coords="29,5,89,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:aa88b7c7429d23b7d2fa17ffc752a4ac9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aa88b7c7429d23b7d2fa17ffc752a4ac9">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a>)</td></tr>
+<tr class="separator:aa88b7c7429d23b7d2fa17ffc752a4ac9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8003fb3af6c418c87aaa5deeaefc8993"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a> (self, pLoc)</td></tr>
+<tr class="separator:a8003fb3af6c418c87aaa5deeaefc8993"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc009ffd4994382a76fa9258606bb5cf"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a> (self, pLoc)</td></tr>
+<tr class="separator:adc009ffd4994382a76fa9258606bb5cf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28af6a62ec92db41480fa71b1f7780a3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a> (self, pLoc, tauDist=None)</td></tr>
+<tr class="separator:a28af6a62ec92db41480fa71b1f7780a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a088c7873b1df5b3f93511981a15e04d8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a> (self, theBoard)</td></tr>
+<tr class="separator:a088c7873b1df5b3f93511981a15e04d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1033331b270d7d903ef74690b7b844fa"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a> (self, pLoc)</td></tr>
+<tr class="separator:a1033331b270d7d903ef74690b7b844fa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a68e8bac9ad64753ca6365f34b888a5cb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">__init__</a> (self, *argv)</td></tr>
+<tr class="memdesc:a68e8bac9ad64753ca6365f34b888a5cb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for puzzle board.  <a href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">More...</a><br /></td></tr>
+<tr class="separator:a68e8bac9ad64753ca6365f34b888a5cb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece instance to the board.  <a href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">More...</a><br /></td></tr>
+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a> (self, <a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a>)</td></tr>
+<tr class="memdesc:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add puzzle piece to board.  <a href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">More...</a><br /></td></tr>
+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a> (self)</td></tr>
+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a> (self)</td></tr>
+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a> (self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td></tr>
+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a> (self)</td></tr>
+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a> (self, id)</td></tr>
+<tr class="memdesc:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get puzzle piece instance based on id.  <a href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">More...</a><br /></td></tr>
+<tr class="separator:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a> (self, indSetMeasured)</td></tr>
+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
+<tr class="memdesc:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns list/array of puzzle piece locations.  <a href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">More...</a><br /></td></tr>
+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a> (self, newLabels, idContinue)</td></tr>
+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a> (theImage, theMask, theParams=None)</td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a453b1916e9e176841e6ff087b90fa3c0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a> (theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed35d4479db6b7728642a0fcde86067d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa88b7c7429d23b7d2fa17ffc752a4ac9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa88b7c7429d23b7d2fa17ffc752a4ac9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle.builder.arrangement class.
+
+Args:
+    theBoard: A board instance.
+    theParams: The parameters.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">Interlocking</a>, <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">Gridded</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">Adjacent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#adc5838fd745811d801a6b5a7b6a230df">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a453b1916e9e176841e6ff087b90fa3c0">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The arrangement puzzle board instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">Gridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">Interlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">Adjacent</a>.</p>
+
+</div>
+</div>
+<a id="a8003fb3af6c418c87aaa5deeaefc8993"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8003fb3af6c418c87aaa5deeaefc8993">&#9670;&nbsp;</a></span>corrections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def corrections </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in the same order as puzzle board list), provide
+the correction vector that would move them to the calibrated
+locations.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theVects: A dict of puzzle piece id &amp; vectors.
+</pre> 
+</div>
+</div>
+<a id="adc009ffd4994382a76fa9258606bb5cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc009ffd4994382a76fa9258606bb5cf">&#9670;&nbsp;</a></span>distances()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def distances </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in same order as puzzle board list), provide
+the distances between the locations and the calibrated
+locations.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theDists(A dict of puzzle piece id &amp; distance to the solution)
+</pre> 
+</div>
+</div>
+<a id="a28af6a62ec92db41480fa71b1f7780a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28af6a62ec92db41480fa71b1f7780a3">&#9670;&nbsp;</a></span>piecesInPlace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def piecesInPlace </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tauDist</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return boolean array indicating whether the piece is
+correctly in place or not.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theScores: A dict of id &amp; bool variable indicating whether the piece is correctly in place or not.
+</pre> 
+</div>
+</div>
+<a id="a088c7873b1df5b3f93511981a15e04d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a088c7873b1df5b3f93511981a15e04d8">&#9670;&nbsp;</a></span>scoreBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def scoreBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a puzzle board with in ordered correspondence with the
+calibrated puzzle board, in the same order as puzzle board
+list), provide a score for the distance between the puzzle
+piece locations and the calibrated locations.
+
+The score here is just the sum of the error norms (or the incorrect
+distance of the placed part to the true placement).
+
+Args:
+    theBoard: A puzzle board in 1-1 ordered correspondence with solution.
+
+Returns:
+    theScore: The score compared with the given board.
+</pre> 
+</div>
+</div>
+<a id="a1033331b270d7d903ef74690b7b844fa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1033331b270d7d903ef74690b7b844fa">&#9670;&nbsp;</a></span>scoreByLocation()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def scoreByLocation </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given an array of locations that correspond to the puzzle
+board (e.g., in same order as puzzle board list), provide a
+score for the distance between the locations and the
+calibrated locations.
+
+The score here is just the sum of the error norms (or the incorrect
+distance of the placed part to the true placement). The locations
+are assumed to be ordered according to puzzle piece ordering in the
+calibrated puzzle board.
+
+Args:
+    pLoc: A dict of puzzle piece id &amp; location.
+
+Returns:
+    theScore: The score for the current board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
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+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a>, including all inherited members.</p>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html">CfgArrangement</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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diff --git a/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html b/docs/classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html
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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: CfgArrangement Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
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+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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+  <div class="headertitle">
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+
+<p>Configuration setting specifier for centroidMulti.  
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+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
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+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
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+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a418793636fd792a2b17e86fc767ccb78">CfgBoardMeasure</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">CfgGridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">CfgInterlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgBoardMeasure</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgInterlocking</a>, and <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgAdjacent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="arrangement_8py.html">arrangement.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1gridded.html">gridded</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgGridded Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for centroidMulti.  
+ <a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgGridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded__inherit__graph.png" border="0" usemap="#CfgGridded_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgGridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded__coll__graph.png" border="0" usemap="#CfgGridded_coll__map" alt="Collaboration graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td></tr>
+<tr class="memitem:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a> ()</td></tr>
+<tr class="separator:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
+<tr class="separator:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">CfgInterlocking</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgInterlocking</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="gridded_8py.html">gridded.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ec3ddc25b60f1e5edfc25d4be59ef7c">explodedPuzzle</a>(self, dx=100, dy=50, bgColor=(0, 0, 0))</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ba1825606cdadc883059651caa3ff4b">gc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ae966f34959f41c1d00847a5ba1f2be72">processInterlocking</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ad65dabaa6e7b1e099ff133733c7c4b7c">swapPuzzle</a>(self, num=100)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded.html b/docs/classpuzzle_1_1builder_1_1gridded_1_1Gridded.html
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+<title>IVALab Python Libraries: Gridded Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1gridded_1_1Gridded-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Gridded Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Gridded:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1Gridded__inherit__graph.png" border="0" usemap="#Gridded_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1gridded_1_1Gridded__coll__graph.png" border="0" usemap="#Gridded_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a3188aacd9b5277570fecd3fef9e8a398"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a>)</td></tr>
+<tr class="separator:a3188aacd9b5277570fecd3fef9e8a398"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ec3ddc25b60f1e5edfc25d4be59ef7c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ec3ddc25b60f1e5edfc25d4be59ef7c">explodedPuzzle</a> (self, dx=100, dy=50, bgColor=(0, 0, 0))</td></tr>
+<tr class="separator:a4ec3ddc25b60f1e5edfc25d4be59ef7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad65dabaa6e7b1e099ff133733c7c4b7c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ad65dabaa6e7b1e099ff133733c7c4b7c">swapPuzzle</a> (self, num=100)</td></tr>
+<tr class="separator:ad65dabaa6e7b1e099ff133733c7c4b7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td></tr>
+<tr class="memitem:ae966f34959f41c1d00847a5ba1f2be72 inherit pub_methods_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ae966f34959f41c1d00847a5ba1f2be72">processInterlocking</a> (self)</td></tr>
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+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a4ba1825606cdadc883059651caa3ff4b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a4ba1825606cdadc883059651caa3ff4b">gc</a></td></tr>
+<tr class="separator:a4ba1825606cdadc883059651caa3ff4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td></tr>
+<tr class="separator:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td></tr>
+<tr class="memitem:a3d0586935017c2f8e2f5d58ae16ed0ca inherit pub_attribs_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td></tr>
+<tr class="separator:a3d0586935017c2f8e2f5d58ae16ed0ca inherit pub_attribs_classpuzzle_1_1builder_1_1interlocking_1_1Interlocking"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td></tr>
+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3188aacd9b5277570fecd3fef9e8a398"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3188aacd9b5277570fecd3fef9e8a398">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html">CfgGridded</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Constructor for the puzzle.builder.adjacent class.
+
+Args:
+    theBoard: The input board instance.
+    theParams: The params.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">Interlocking</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The gridded puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">Interlocking</a>.</p>
+
+</div>
+</div>
+<a id="a4ec3ddc25b60f1e5edfc25d4be59ef7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ec3ddc25b60f1e5edfc25d4be59ef7c">&#9670;&nbsp;</a></span>explodedPuzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def explodedPuzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dx</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dy</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bgColor</em> = <code>(0,&#160;0,&#160;0)</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Create an exploded version of the puzzle. It is an image
+with no touching pieces.
+
+The value for an exploded puzzle image is that it can be used to
+generate a simulated puzzle scenario that can be passed to a puzzle
+solver. It can also be used to define a quasi-puzzle problem, where
+the objective is to place the pieces in grid ordering like the
+exploded view (without needing to interlock). Doing see keeps puzzle
+piece well separated for simple puzzle interpretation algorithms to
+rapidly parse.
+
+Args:
+    dx: The horizontal offset when exploding.
+    dy: The vertical offset when exploding.
+    bgColor: The background color to use.
+    Exploded puzzle image &amp; Exploded puzzle board.
+
+Returns:
+    epImage: The image of the exploded puzzle pieces.
+    epBoard: The board instance of the exploded puzzle pieces.
+</pre> 
+</div>
+</div>
+<a id="ad65dabaa6e7b1e099ff133733c7c4b7c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad65dabaa6e7b1e099ff133733c7c4b7c">&#9670;&nbsp;</a></span>swapPuzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def swapPuzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Randomly swap rLoc of two puzzle pieces for num times.
+
+Returns:
+  epImage: Generated puzzle image.
+  epBoard: Generated puzzle board.
+  change_dict: The ground truth change dict (Old -&gt; New).
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4ba1825606cdadc883059651caa3ff4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ba1825606cdadc883059651caa3ff4b">&#9670;&nbsp;</a></span>gc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">gc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3d0586935017c2f8e2f5d58ae16ed0ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d0586935017c2f8e2f5d58ae16ed0ca">&#9670;&nbsp;</a></span>ilMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ilMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="gridded_8py.html">gridded.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgInterlocking Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a>, including all inherited members.</p>
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html b/docs/classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgInterlocking Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for centroidMulti.  
+ <a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgInterlocking:</div>
+<div class="dyncontent">
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a></td></tr>
+<tr class="memitem:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a> ()</td></tr>
+<tr class="separator:ac51121e665d1bb05f6b0ce7b5201bc64 inherit pub_methods_classpuzzle_1_1parser_1_1CfgBoardMeasure"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
+<tr class="separator:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">CfgGridded</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgAdjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGridded</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="interlocking_8py.html">interlocking.py</a></li>
+</ul>
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+</a> 1.8.17
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html
new file mode 100644
index 00000000..885dc4d4
--- /dev/null
+++ b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html
@@ -0,0 +1,118 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<script type="text/javascript" src="menudata.js"></script>
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+<script type="text/javascript">
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder.html">builder</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1builder_1_1interlocking.html">interlocking</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Interlocking Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">__init__</a>(self, theBoard=[], theParams=CfgInterlocking)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a68e8bac9ad64753ca6365f34b888a5cb">puzzle::board::Board.__init__</a>(self, *argv)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55133e3f96f797b9ee5bfbd65147c964">addPiece</a>(self, piece, ORIGINAL_ID=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a55cdbf47e8a71df471243ba64d7eddbb">addPieces</a>(self, pieces)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">boundingBox</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a>(theImage, theMask, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a>(theImage, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a>(theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a>(fileName, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a>(imFile, maskFile, theParams=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">display_mp</a>(self, theImage=None, fh=None, ID_DISPLAY=False, CONTOUR_DISPLAY=False, BOUNDING_BOX=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#adc009ffd4994382a76fa9258606bb5cf">distances</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">extents</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a>(self, indSetMeasured)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a>(self, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a28af6a62ec92db41480fa71b1f7780a3">piecesInPlace</a>(self, pLoc, tauDist=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ae966f34959f41c1d00847a5ba1f2be72">processInterlocking</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html">Interlocking</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a>(self, newLabels, idContinue)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a088c7873b1df5b3f93511981a15e04d8">scoreBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a1033331b270d7d903ef74690b7b844fa">scoreByLocation</a>(self, pLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a>(self, id_A, id_B, tauAdj)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a>(self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html b/docs/classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html
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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: Interlocking Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Interlocking Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Interlocking:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking__inherit__graph.png" border="0" usemap="#Interlocking_inherit__map" alt="Inheritance graph"/></div>
+<map name="Interlocking_inherit__map" id="Interlocking_inherit__map">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Interlocking:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking__coll__graph.png" border="0" usemap="#Interlocking_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a5acd7490889d1c67223d0378af8c5212"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a5acd7490889d1c67223d0378af8c5212">__init__</a> (self, theBoard=[], theParams=<a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a>)</td></tr>
+<tr class="separator:a5acd7490889d1c67223d0378af8c5212"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae966f34959f41c1d00847a5ba1f2be72"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a5a3fa76a9831e19483a5463e00ed0792 inherit pub_methods_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a5a3fa76a9831e19483a5463e00ed0792">processAdjacency</a> (self)</td></tr>
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+<tr class="inherit_header pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a8003fb3af6c418c87aaa5deeaefc8993 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a8003fb3af6c418c87aaa5deeaefc8993">corrections</a> (self, pLoc)</td></tr>
+<tr class="separator:a8003fb3af6c418c87aaa5deeaefc8993 inherit pub_methods_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pub_methods_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
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+<tr class="separator:a68e8bac9ad64753ca6365f34b888a5cb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55133e3f96f797b9ee5bfbd65147c964 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55cdbf47e8a71df471243ba64d7eddbb inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through pieces to get tight bounding box.  <a href="classpuzzle_1_1board_1_1Board.html#a8122acdbd37682b8309b4eb42e608edc">More...</a><br /></td></tr>
+<tr class="separator:a8122acdbd37682b8309b4eb42e608edc inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad149341d7d849ff957baee565b19c123">clear</a> (self)</td></tr>
+<tr class="separator:ad149341d7d849ff957baee565b19c123 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the puzzle board as an image using matplot library.  <a href="classpuzzle_1_1board_1_1Board.html#a87fbb7809c3e6e4d305d44ba2ccf9be9">More...</a><br /></td></tr>
+<tr class="separator:a87fbb7809c3e6e4d305d44ba2ccf9be9 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Iterate through puzzle pieces to get tight bounding box extents of the board.  <a href="classpuzzle_1_1board_1_1Board.html#af683fb9f92e8e2c12148d7e5ff1f81f4">More...</a><br /></td></tr>
+<tr class="separator:af683fb9f92e8e2c12148d7e5ff1f81f4 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">getPiece</a> (self, id)</td></tr>
+<tr class="memdesc:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get puzzle piece instance based on id.  <a href="classpuzzle_1_1board_1_1Board.html#a18465234ae59fa2538c1092263466b1d">More...</a><br /></td></tr>
+<tr class="separator:a18465234ae59fa2538c1092263466b1d inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">markMissing</a> (self, indSetMeasured)</td></tr>
+<tr class="memdesc:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given set of indices to measured pieces, mark remaining as unmeasured.  <a href="classpuzzle_1_1board_1_1Board.html#a506509f5e43fe4e2a5af20b068994191">More...</a><br /></td></tr>
+<tr class="separator:a506509f5e43fe4e2a5af20b068994191 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">pieceLocations</a> (self, isCenter=False)</td></tr>
+<tr class="memdesc:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns list/array of puzzle piece locations.  <a href="classpuzzle_1_1board_1_1Board.html#a7efb9317e5ccd2875d2d3caf45e618df">More...</a><br /></td></tr>
+<tr class="separator:a7efb9317e5ccd2875d2d3caf45e618df inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">relabel</a> (self, newLabels, idContinue)</td></tr>
+<tr class="memdesc:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Relabel the puzzle piece IDs in the board using new label reassignments and adjust IDs for those without reassignment.  <a href="classpuzzle_1_1board_1_1Board.html#abeea55caeb9b7bd60eba4ad6f22c97db">More...</a><br /></td></tr>
+<tr class="separator:abeea55caeb9b7bd60eba4ad6f22c97db inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="memdesc:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of pieces on the board.  <a href="classpuzzle_1_1board_1_1Board.html#a6d620a10dad91cadcb542e6098ada619">More...</a><br /></td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">testAdjacent</a> (self, id_A, id_B, tauAdj)</td></tr>
+<tr class="memdesc:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if two puzzle pieces are adjacent or not.  <a href="classpuzzle_1_1board_1_1Board.html#a3095fcf90f75aca5219d31132f212c1a">More...</a><br /></td></tr>
+<tr class="separator:a3095fcf90f75aca5219d31132f212c1a inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">toImage</a> (self, theImage=None, ID_DISPLAY=False, COLOR=(0, 0, 0), ID_COLOR=(255, 255, 255), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="memdesc:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="mdescLeft">&#160;</td><td class="mdescRight">Uses puzzle piece locations to create an image for visualizing them.  <a href="classpuzzle_1_1board_1_1Board.html#ad4dccb0a3f473b00b5e422d2c8165bde">More...</a><br /></td></tr>
+<tr class="separator:ad4dccb0a3f473b00b5e422d2c8165bde inherit pub_methods_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#ab3413ddf15aa9bfe4d5a4039d377238f">buildFrom_ImageAndMask</a> (theImage, theMask, theParams=None)</td></tr>
+<tr class="separator:ab3413ddf15aa9bfe4d5a4039d377238f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adc5838fd745811d801a6b5a7b6a230df"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#adc5838fd745811d801a6b5a7b6a230df">buildFrom_ImageProcessing</a> (theImage, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:adc5838fd745811d801a6b5a7b6a230df"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a453b1916e9e176841e6ff087b90fa3c0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a453b1916e9e176841e6ff087b90fa3c0">buildFrom_Sketch</a> (theImage, theMask, theProcessor=None, theDetector=None, theParams=None)</td></tr>
+<tr class="separator:a453b1916e9e176841e6ff087b90fa3c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed35d4479db6b7728642a0fcde86067d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#aed35d4479db6b7728642a0fcde86067d">buildFromFile_ImageAndMask</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:aed35d4479db6b7728642a0fcde86067d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a9d6433fa0538ef9e275c41c8c48df5fd">buildFromFile_Puzzle</a> (fileName, theParams=None)</td></tr>
+<tr class="separator:a9d6433fa0538ef9e275c41c8c48df5fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a612ede47303cc97928fd7c36375994fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a612ede47303cc97928fd7c36375994fb">buildFromFiles_ImageAndMask</a> (imFile, maskFile, theParams=None)</td></tr>
+<tr class="separator:a612ede47303cc97928fd7c36375994fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1Interlocking.html#a3d0586935017c2f8e2f5d58ae16ed0ca">ilMat</a></td></tr>
+<tr class="separator:a3d0586935017c2f8e2f5d58ae16ed0ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html">Adjacent</a></td></tr>
+<tr class="memitem:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a36fb9e2f41b90386b06c22779f628279">adjMat</a></td></tr>
+<tr class="separator:a36fb9e2f41b90386b06c22779f628279 inherit pub_attribs_classpuzzle_1_1builder_1_1adjacent_1_1Adjacent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html">Arrangement</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1Arrangement.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1builder_1_1arrangement_1_1Arrangement"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1board_1_1Board"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1board_1_1Board')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1board_1_1Board.html">Board</a></td></tr>
+<tr class="memitem:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a48452c4a0df1424e4061b1ff09201621">id_count</a></td></tr>
+<tr class="separator:a48452c4a0df1424e4061b1ff09201621 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1board_1_1Board.html#a21ddfcf7ee9df16a820d99deb4fda263">pieces</a></td></tr>
+<tr class="separator:a21ddfcf7ee9df16a820d99deb4fda263 inherit pub_attribs_classpuzzle_1_1board_1_1Board"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5acd7490889d1c67223d0378af8c5212"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5acd7490889d1c67223d0378af8c5212">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html">CfgInterlocking</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle.builder.adjacent class.
+
+Args:
+    theBoard: The input board instance.
+    theParams: The params.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#abf251dca25f883392c156c721634a851">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a3188aacd9b5277570fecd3fef9e8a398">Gridded</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab3413ddf15aa9bfe4d5a4039d377238f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab3413ddf15aa9bfe4d5a4039d377238f">&#9670;&nbsp;</a></span>buildFrom_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image and an image mask, parse both to recover
+       the puzzle calibration/solution.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#ab3413ddf15aa9bfe4d5a4039d377238f">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#ab3413ddf15aa9bfe4d5a4039d377238f">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="adc5838fd745811d801a6b5a7b6a230df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc5838fd745811d801a6b5a7b6a230df">&#9670;&nbsp;</a></span>buildFrom_ImageProcessing()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_ImageProcessing </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#adc5838fd745811d801a6b5a7b6a230df">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#adc5838fd745811d801a6b5a7b6a230df">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="a453b1916e9e176841e6ff087b90fa3c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a453b1916e9e176841e6ff087b90fa3c0">&#9670;&nbsp;</a></span>buildFrom_Sketch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFrom_Sketch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theProcessor</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Given an image with regions clearly separated by some
+       color or threshold, parse it to recover the puzzle
+       calibration/solution. Can source alternative detector.
+
+Instantiates a puzzle parser that gets applied to the submitted data
+to create a puzzle board instance. That instance is the calibration/solution.
+
+Args:
+    theImage: The puzzle image data.
+    theMask: The puzzle mask data.
+    theProcessor: The processing scheme.
+    theDetector: The detector scheme.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a453b1916e9e176841e6ff087b90fa3c0">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a453b1916e9e176841e6ff087b90fa3c0">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="aed35d4479db6b7728642a0fcde86067d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed35d4479db6b7728642a0fcde86067d">&#9670;&nbsp;</a></span>buildFromFile_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as an image and a mask.
+
+The python file contains the puzzle board mask and image source
+data. It gets processed into an arrangement instance. If a threshold
+variable ``tauDist`` is found, then it is applied to the arrangement
+instance.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#aed35d4479db6b7728642a0fcde86067d">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#aed35d4479db6b7728642a0fcde86067d">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="a9d6433fa0538ef9e275c41c8c48df5fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d6433fa0538ef9e275c41c8c48df5fd">&#9670;&nbsp;</a></span>buildFromFile_Puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFile_Puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fileName</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution puzzle board.
+
+Args:
+    fileName: The python file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a9d6433fa0538ef9e275c41c8c48df5fd">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a9d6433fa0538ef9e275c41c8c48df5fd">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="a612ede47303cc97928fd7c36375994fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a612ede47303cc97928fd7c36375994fb">&#9670;&nbsp;</a></span>buildFromFiles_ImageAndMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromFiles_ImageAndMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>imFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>maskFile</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Load a saved arrangement calibration/solution stored as
+       separate image and mask files.
+
+The source file contain the puzzle board image and mask data. It
+gets processed into an arrangement instance. If a threshold variable
+``tauDist`` is found, then it is applied to the arrangement instance.
+
+Args:
+    imFile: The image file to load.
+    maskFile: The mask file to load.
+    theParams: The params.
+
+Returns:
+    thePuzzle: The interlocking puzzle board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1Adjacent.html#a612ede47303cc97928fd7c36375994fb">Adjacent</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html#a612ede47303cc97928fd7c36375994fb">Gridded</a>.</p>
+
+</div>
+</div>
+<a id="ae966f34959f41c1d00847a5ba1f2be72"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae966f34959f41c1d00847a5ba1f2be72">&#9670;&nbsp;</a></span>processInterlocking()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def processInterlocking </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the solution board and determine what pieces are
+       interlocking or adjacent.
+
+       Some pieces might be close to each other but not really
+       interlocking.  Mostly this happens at the corners, but maybe there
+       are weird puzzles that can be thought of with a mix of adjacent and
+       interlocking.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a3d0586935017c2f8e2f5d58ae16ed0ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3d0586935017c2f8e2f5d58ae16ed0ca">&#9670;&nbsp;</a></span>ilMat</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ilMat</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/builder/<a class="el" href="interlocking_8py.html">interlocking.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters.html">clusters</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1clusters_1_1byColor.html">byColor</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ByColor Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a22f1563be721d914e89ef41efd3af7b1">__init__</a>(self, thePuzzle, extractor=Histogram(), theParams=ParamColorCluster)</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ad74507e4393158284b56c876aac83968">feaLabel</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#a3b47e8ab401734b29a5e8352cd19247c">process</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html">ByColor</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html b/docs/classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: ByColor Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+  <td id="projectalign" style="padding-left: 0.5em;">
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+</table>
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+</div><!-- top -->
+<div class="header">
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+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor-members.html">List of all members</a>  </div>
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+<div class="title">ByColor Class Reference</div>  </div>
+</div><!--header-->
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+<tr class="memitem:ab81b60de1b5b308e7e487d2af81e6369"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ByColor.html#ab81b60de1b5b308e7e487d2af81e6369">feaExtractor</a></td></tr>
+<tr class="separator:ab81b60de1b5b308e7e487d2af81e6369"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad74507e4393158284b56c876aac83968"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a22f1563be721d914e89ef41efd3af7b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a22f1563be721d914e89ef41efd3af7b1">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>extractor</em> = <code>Histogram()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1clusters_1_1byColor_1_1ParamColorCluster.html">ParamColorCluster</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the byColor class.
+
+Args:
+    thePuzzle: The input puzzle board.
+    extractor: A matcher instance.
+    theParams: The param for threshold.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b47e8ab401734b29a5e8352cd19247c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b47e8ab401734b29a5e8352cd19247c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
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+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>extractor</em> = <code>Moments()</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1clusters_1_1byShape_1_1ParamShapeCluster.html">ParamShapeCluster</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the byShape class.
+
+Args:
+    thePuzzle: The input puzzle board.
+    extractor: A matcher instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b47e8ab401734b29a5e8352cd19247c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b47e8ab401734b29a5e8352cd19247c">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@ brief Extract shape features from the data.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab81b60de1b5b308e7e487d2af81e6369"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab81b60de1b5b308e7e487d2af81e6369">&#9670;&nbsp;</a></span>feaExtractor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feaExtractor</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad74507e4393158284b56c876aac83968"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad74507e4393158284b56c876aac83968">&#9670;&nbsp;</a></span>feaLabel</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feaLabel</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a54c048cb58bd1fa076182d199e23d927"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54c048cb58bd1fa076182d199e23d927">&#9670;&nbsp;</a></span>feature</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">feature</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/clusters/<a class="el" href="byShape_8py.html">byShape.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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index 00000000..78db2103
--- /dev/null
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@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" title=" " alt="" coords="15,5,75,32"/>
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+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1manager_1_1Manager-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Manager Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Manager:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1manager_1_1Manager__inherit__graph.png" border="0" usemap="#Manager_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Manager:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1manager_1_1Manager__coll__graph.png" border="0" usemap="#Manager_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a72c60f4b326acd286ffa488c97bab330"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a72c60f4b326acd286ffa488c97bab330">__init__</a> (self, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a>, theParams=<a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html">ManagerParms</a>)</td></tr>
+<tr class="separator:a72c60f4b326acd286ffa488c97bab330"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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_1manager_1_1Manager.html#ac4072d8bdf7b51b32fdc6e6523f9cd6b">greedyAssignment</a> (self, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a>, scoreTable_color, scoreTable_edge_color)</td></tr>
+<tr class="separator:ac4072d8bdf7b51b32fdc6e6523f9cd6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a123cb12e4694a2aebfcc779166a3c707"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a123cb12e4694a2aebfcc779166a3c707">hungarianAssignment</a> (self, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a>, scoreTable_color, scoreTable_edge_color)</td></tr>
+<tr class="separator:a123cb12e4694a2aebfcc779166a3c707"><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_1manager_1_1Manager.html#adb50fb92faf8f50eb95a8bccc5317b70">matchPieces</a> (self)</td></tr>
+<tr class="separator:adb50fb92faf8f50eb95a8bccc5317b70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d843dccc98837103aebbcc2ae528635"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a6d843dccc98837103aebbcc2ae528635">measure</a> (self, *argv)</td></tr>
+<tr class="separator:a6d843dccc98837103aebbcc2ae528635"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a65adc9fb12f1ac9a99e46d9f93d2fa95"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a65adc9fb12f1ac9a99e46d9f93d2fa95">process</a> (self, *argv)</td></tr>
+<tr class="separator:a65adc9fb12f1ac9a99e46d9f93d2fa95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a56e65504577431ccb6f0664dee7730e0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a56e65504577431ccb6f0664dee7730e0">bMeas</a></td></tr>
+<tr class="separator:a56e65504577431ccb6f0664dee7730e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac64a7c833ba3a6027b7bc4269ecf210b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#ac64a7c833ba3a6027b7bc4269ecf210b">matcher</a></td></tr>
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+<tr class="separator:a3646c19ac3f11a78f94b5c226e114884"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af8598bf34f1f2754aed14c35ad7da3af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d4606f589063e9dd2d29744554ecc64"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html#a1d4606f589063e9dd2d29744554ecc64">scoreTable_shape</a></td></tr>
+<tr class="separator:a1d4606f589063e9dd2d29744554ecc64"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae3b4a5cae7c025003260aa58ef37f260"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a72c60f4b326acd286ffa488c97bab330"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72c60f4b326acd286ffa488c97bab330">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solution</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1manager_1_1ManagerParms.html">ManagerParms</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece manager class.
+
+Args:
+    solution: A solution/calibrated board instance.
+    theParams: Any additional parameters in a structure.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac4072d8bdf7b51b32fdc6e6523f9cd6b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4072d8bdf7b51b32fdc6e6523f9cd6b">&#9670;&nbsp;</a></span>greedyAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def greedyAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the greedyAssignment for the score table.
+
+Args:
+    scoreTable_shape:  The score table for the pairwise comparison (shape).
+    scoreTable_color:  The score table for the pairwise comparison (color).
+    scoreTable_edge_color: The score table for the pairwise comparison (edge_color).
+
+Returns:
+    matched_id: The matched pair dict.
+</pre> 
+</div>
+</div>
+<a id="a123cb12e4694a2aebfcc779166a3c707"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a123cb12e4694a2aebfcc779166a3c707">&#9670;&nbsp;</a></span>hungarianAssignment()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def hungarianAssignment </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_shape</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scoreTable_edge_color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the hungarianAssignment for the score table.
+
+Args:
+    scoreTable_shape:  The score table for the pairwise comparison (shape).
+    scoreTable_color:  The score table for the pairwise comparison (color).
+    scoreTable_edge_color: The score table for the pairwise comparison (edge_color).
+
+Returns:
+    matched_id: The matched pair dict.
+</pre> 
+</div>
+</div>
+<a id="adb50fb92faf8f50eb95a8bccc5317b70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb50fb92faf8f50eb95a8bccc5317b70">&#9670;&nbsp;</a></span>matchPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def matchPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Match all the measured puzzle pieces with the ground truth in a pairwise manner
+to get meas to sol.
+</pre> 
+</div>
+</div>
+<a id="a6d843dccc98837103aebbcc2ae528635"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d843dccc98837103aebbcc2ae528635">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">*&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the match based on the input.
+
+Args:
+    I: RGB image.
+    M: Mask image.
+    board: The measured board.
+</pre> 
+</div>
+</div>
+<a id="a65adc9fb12f1ac9a99e46d9f93d2fa95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a65adc9fb12f1ac9a99e46d9f93d2fa95">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">*&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the tracking pipeline for image measurement or directly work
+on a measured board. Assume two modes: 1. I &amp; M or 2. A measured board.
+Args:
+    I: RGB image.
+    M: Mask image.
+    board: The measured board.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a56e65504577431ccb6f0664dee7730e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56e65504577431ccb6f0664dee7730e0">&#9670;&nbsp;</a></span>bMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac64a7c833ba3a6027b7bc4269ecf210b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac64a7c833ba3a6027b7bc4269ecf210b">&#9670;&nbsp;</a></span>matcher</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">matcher</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3646c19ac3f11a78f94b5c226e114884"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3646c19ac3f11a78f94b5c226e114884">&#9670;&nbsp;</a></span>pAssignments</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">pAssignments</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af8598bf34f1f2754aed14c35ad7da3af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8598bf34f1f2754aed14c35ad7da3af">&#9670;&nbsp;</a></span>pAssignments_rotation</h2>
+
+<div class="memitem">
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+      <table class="memname">
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+          <td class="memname">pAssignments_rotation</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
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+<a id="a1d4606f589063e9dd2d29744554ecc64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d4606f589063e9dd2d29744554ecc64">&#9670;&nbsp;</a></span>scoreTable_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreTable_shape</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a135084fd94e679ce7869e01b693b1f5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a135084fd94e679ce7869e01b693b1f5b">&#9670;&nbsp;</a></span>scoreType</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">scoreType</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3b4a5cae7c025003260aa58ef37f260"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3b4a5cae7c025003260aa58ef37f260">&#9670;&nbsp;</a></span>skipList</h2>
+
+<div class="memitem">
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+<a id="ae4bd085d10e18fd066c9ff3e6af72173"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4bd085d10e18fd066c9ff3e6af72173">&#9670;&nbsp;</a></span>solution</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">solution</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="manager_8py.html">manager.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html
new file mode 100644
index 00000000..f86bf17d
--- /dev/null
+++ b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse.html">parse</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse_1_1fromLayer.html">fromLayer</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">FromLayer Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a9fe5d48a7f4c6a7215fc6bc3b878d66a">__init__</a>(self, theParams=ParamPuzzle)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">trackpointer::centroidMulti::centroidMulti.__init__</a>(self, iPt=None, params=CfgCentMulti())</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a56e65504577431ccb6f0664dee7730e0">bMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">displayDebugState</a>(self, dbstate=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">displayState</a>(self, dstate=None, ax=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a992c10bd96bf4e32c10a25049cf99dff">findCorrectedContours</a>(self, mask, FILTER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">get</a>(self, fname)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#aa84287eb1924cb7327029582f9c35d4a">labelIm</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a863afb5e67e10e94b1f7b37bfd55d636">labelImage</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a3fe9e05edd4406903ae55bd7788c2dc2">mask2regions</a>(self, I, M, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a3b2484cc8a22705b2445b73498455ae6">measure</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">trackpointer::centroidMulti::centroidMulti.measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a8ff8655164e312e194327f31593cbe38">offset</a>(self, dp)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a49807f064f750d752afe06f69780ef03">pieceConstructor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a5addf66038843732afc1aa9419b7baaa">process</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">trackpointer::centroidMulti::centroidMulti.process</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">regionProposal</a>(I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a6f2734931a2e7b4a081647dfa26e9457">regions2pieces</a>(self, regions)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a6d6cfe637269a3be394964d5b1462edd">set</a>(self, fname, fval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">setIfMissing</a>(self, params, pname, pval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">setState</a>(self, dPt)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4878b4096cf3940de12940c8db25027b">tparams</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html#a34cf4ef155300b4e2ab8303af37669ce">tpt</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">trackProps</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#af6e79d6276dd4457be1bed016ac7cc28">transform</a>(self, g)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html
new file mode 100644
index 00000000..3a0f3477
--- /dev/null
+++ b/docs/classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html
@@ -0,0 +1,526 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: FromLayer Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse.html">parse</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse_1_1fromLayer.html">fromLayer</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer.html">FromLayer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">FromLayer Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for FromLayer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer__inherit__graph.png" border="0" usemap="#FromLayer_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for FromLayer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parse_1_1fromLayer_1_1FromLayer__coll__graph.png" border="0" usemap="#FromLayer_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9fe5d48a7f4c6a7215fc6bc3b878d66a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fe5d48a7f4c6a7215fc6bc3b878d66a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1parse_1_1fromLayer_1_1ParamPuzzle.html">ParamPuzzle</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece layer parsing class.
+
+Args:
+    theParams: The parameters.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a992c10bd96bf4e32c10a25049cf99dff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992c10bd96bf4e32c10a25049cf99dff">&#9670;&nbsp;</a></span>findCorrectedContours()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def findCorrectedContours </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>FILTER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Find the right contours given a binary mask image.
+
+Args:
+    mask: The input binary mask image.
+
+Returns:
+    desired_cnts: Contour list.
+</pre> 
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the track-pointer state. Override the original one.
+
+Returns:
+    tstate: The board measurement.
+</pre> 
+<p>Reimplemented from <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>.</p>
+
+</div>
+</div>
+<a id="a3fe9e05edd4406903ae55bd7788c2dc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fe9e05edd4406903ae55bd7788c2dc2">&#9670;&nbsp;</a></span>mask2regions()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def mask2regions </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the selection mask into a bunch of regions.
+       Mainly based on findContours function.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+
+Returns:
+    regions: A list of regions (mask, segmented image, location in the source image).
+</pre> 
+</div>
+</div>
+<a id="a3b2484cc8a22705b2445b73498455ae6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b2484cc8a22705b2445b73498455ae6">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery to recover puzzle pieces and
+manage their track states.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<a id="a5addf66038843732afc1aa9419b7baaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5addf66038843732afc1aa9419b7baaa">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Run the tracking pipeline for image measurement.
+
+Args:
+    I: RGB image.
+    M: Mask image.
+</pre> 
+</div>
+</div>
+<a id="a6f2734931a2e7b4a081647dfa26e9457"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f2734931a2e7b4a081647dfa26e9457">&#9670;&nbsp;</a></span>regions2pieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def regions2pieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>regions</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the region information into puzzle pieces.
+
+Args:
+    regions: A list of region pairs (mask, segmented image, location in the source image).
+
+Returns:
+    pieces: A list of puzzle pieces instances.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a56e65504577431ccb6f0664dee7730e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56e65504577431ccb6f0664dee7730e0">&#9670;&nbsp;</a></span>bMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab26f73c3ff6d914bb322592c5b72fa4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab26f73c3ff6d914bb322592c5b72fa4c">&#9670;&nbsp;</a></span>haveMeas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveMeas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a49807f064f750d752afe06f69780ef03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a49807f064f750d752afe06f69780ef03">&#9670;&nbsp;</a></span>pieceConstructor</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pieceConstructor</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a34cf4ef155300b4e2ab8303af37669ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34cf4ef155300b4e2ab8303af37669ce">&#9670;&nbsp;</a></span>tpt</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">tpt</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/parse/<a class="el" href="fromLayer_8py.html">fromLayer.py</a></li>
+</ul>
+</div><!-- contents -->
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch-members.html b/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse.html">parse</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parse_1_1fromSketch.html">fromSketch</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html">FromSketch</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">FromSketch Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html">FromSketch</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#af6c7a3f709feb7b34c6dae656b07899a">__init__</a>(self, processor=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html">FromSketch</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">detector::base::Base.__init__</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">adapt</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">detect</a>(self, signal)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">emptyDebug</a>(self)</td><td class="entry"><a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html b/docs/classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: FromSketch Class Reference</title>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">FromSketch Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
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+<div class="dyncontent">
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+<tr class="memitem:a4cbc8f16a0b6cd68f685de5561a0c618 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a4cbc8f16a0b6cd68f685de5561a0c618">info</a> (self)</td></tr>
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+<tr class="separator:a4cbc8f16a0b6cd68f685de5561a0c618 inherit pub_methods_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">__init__</a> (self)</td></tr>
+<tr class="memdesc:ae64f0875afe3067b97ba370b354b9213 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Instantiate a detector <a class="el" href="classdetector_1_1base_1_1Base.html" title="Base or root implementation of detector class.">Base</a> activity class object.  <a href="classdetector_1_1base_1_1Base.html#ae64f0875afe3067b97ba370b354b9213">More...</a><br /></td></tr>
+<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:a72fbf2f30085967560d93851fdf9fe6b inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reconcile prediction and measurement as fitting.  <a href="classdetector_1_1base_1_1Base.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a8333fb44dff3615b489cadfd221c5394 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run detection only processing pipeline (no adaptation).  <a href="classdetector_1_1base_1_1Base.html#a8333fb44dff3615b489cadfd221c5394">More...</a><br /></td></tr>
+<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:ae41cd8a9eb2f382e6706d5418bee3c83 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return empty debug state information.  <a href="classdetector_1_1base_1_1Base.html#ae41cd8a9eb2f382e6706d5418bee3c83">More...</a><br /></td></tr>
+<tr class="separator:ae41cd8a9eb2f382e6706d5418bee3c83 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9ee90969e62195d66d515fcdaf56bf6a inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a> (self)</td></tr>
+<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>
+<tr class="memitem:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">getDebug</a> (self)</td></tr>
+<tr class="memdesc:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest debug state information.  <a href="classdetector_1_1base_1_1Base.html#a86e33c39d3c54a6ebba54b5a0ebf9787">More...</a><br /></td></tr>
+<tr class="separator:a86e33c39d3c54a6ebba54b5a0ebf9787 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a> (self)</td></tr>
+<tr class="memdesc:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return current/latest state.  <a href="classdetector_1_1base_1_1Base.html#a18bb39f68bce281f0f163fd96bb09a8c">More...</a><br /></td></tr>
+<tr class="separator:a18bb39f68bce281f0f163fd96bb09a8c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">process</a> (self, signal)</td></tr>
+<tr class="memdesc:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the new incoming signal on full detection pipeline.  <a href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">More...</a><br /></td></tr>
+<tr class="separator:ac0e04a6d0292eed0154740ef0ed44772 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">save</a> (self, fileName)</td></tr>
+<tr class="memdesc:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for saving to a file given as a string.  <a href="classdetector_1_1base_1_1Base.html#a07d1608e126690cb0e445f9a8df04bc5">More...</a><br /></td></tr>
+<tr class="separator:a07d1608e126690cb0e445f9a8df04bc5 inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">saveTo</a> (self, fPtr)</td></tr>
+<tr class="memdesc:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for saving internal information to HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a2d052ae6ae0dc395ed468285493dbc4c">More...</a><br /></td></tr>
+<tr class="separator:a2d052ae6ae0dc395ed468285493dbc4c inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1fromSketch_1_1FromSketch.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1inImage_1_1inImage"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1inImage_1_1inImage')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1inImage_1_1inImage.html">inImage</a></td></tr>
+<tr class="memitem:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a349de2a2df5b78b837941b4cc2ad22e3">Ip</a></td></tr>
+<tr class="separator:a349de2a2df5b78b837941b4cc2ad22e3 inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1inImage_1_1inImage.html#a484a8e0e9e7b305769fcf0dfeb7d79cc">processor</a></td></tr>
+<tr class="separator:a484a8e0e9e7b305769fcf0dfeb7d79cc inherit pub_attribs_classdetector_1_1inImage_1_1inImage"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">x</a></td></tr>
+<tr class="memdesc:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detection state.  <a href="classdetector_1_1base_1_1Base.html#a9336ebf25087d91c818ee6e9ec29f8c1">More...</a><br /></td></tr>
+<tr class="separator:a9336ebf25087d91c818ee6e9ec29f8c1 inherit pub_attribs_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classdetector_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classdetector_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classdetector_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">load</a> (fileName, relpath=None)</td></tr>
+<tr class="memdesc:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outer method for loading file given as a string (with path).  <a href="classdetector_1_1base_1_1Base.html#a8ba48327dab1d24edd598d85c2ca13a3">More...</a><br /></td></tr>
+<tr class="separator:a8ba48327dab1d24edd598d85c2ca13a3 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">loadFrom</a> (fPtr)</td></tr>
+<tr class="memdesc:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty method for loading internal information from HDF5 file.  <a href="classdetector_1_1base_1_1Base.html#a016768f0d8e23ac245a1b74b27021608">More...</a><br /></td></tr>
+<tr class="separator:a016768f0d8e23ac245a1b74b27021608 inherit pub_static_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af6c7a3f709feb7b34c6dae656b07899a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6c7a3f709feb7b34c6dae656b07899a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>processor</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1inImage_1_1inImage.html#af6c7a3f709feb7b34c6dae656b07899a">inImage</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the passed imagery to get the mask.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<a id="a4dd85ce87569585c592b0dd0638c0dfd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4dd85ce87569585c592b0dd0638c0dfd">&#9670;&nbsp;</a></span>predict()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def predict </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Predict next state from current state. </p>
+<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 from <a class="el" href="classdetector_1_1base_1_1Base.html#a4dd85ce87569585c592b0dd0638c0dfd">Base</a>.</p>
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the passed imagery.
+
+Args:
+    I:  RGB image.
+    M:  Mask image.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a349de2a2df5b78b837941b4cc2ad22e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a349de2a2df5b78b837941b4cc2ad22e3">&#9670;&nbsp;</a></span>Ip</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Ip</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/parse/<a class="el" href="fromSketch_8py.html">fromSketch.py</a></li>
+</ul>
+</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
+</small></address>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+<tr class="memdesc:ac2126adb99433d6a491cb620dbc71afe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the simple puzzler parser.  <a href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#ac2126adb99433d6a491cb620dbc71afe">More...</a><br /></td></tr>
+<tr class="separator:ac2126adb99433d6a491cb620dbc71afe"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process data from mask layer and image.  <a href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a1f45766bf9d26c6a86fae753e9f7f94f">process</a> (self, <a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
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+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:af1a4e96c5447617fcb2e6d9c1739aab9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af1a4e96c5447617fcb2e6d9c1739aab9">buildBasicPipeline</a> ()</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:af3184e6d3aac51d64ce9a9af9571c9c0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#af3184e6d3aac51d64ce9a9af9571c9c0">board</a></td></tr>
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+<tr class="memitem:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a></td></tr>
+<tr class="separator:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parse_1_1simple_1_1Simple.html#a291536e8bf5e2f42dec8ed3f82b13487">Mask</a></td></tr>
+<tr class="separator:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac2126adb99433d6a491cb620dbc71afe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2126adb99433d6a491cb620dbc71afe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFilter</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the simple puzzler parser. </p>
+<dl class="section note"><dt>Note</dt><dd>Lacks filter implementation.</dd></dl>
+<p>Args: theDetector: The detector instance. theTracker: The tracker instance. theParams: The parameters. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af1a4e96c5447617fcb2e6d9c1739aab9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1a4e96c5447617fcb2e6d9c1739aab9">&#9670;&nbsp;</a></span>buildBasicPipeline()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildBasicPipeline </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief      Creates a simple puzzle parser employing a very basic
+    (practically trivial) processing pipeline for
+</pre> 
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process data from mask layer and image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Puzzle image source. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Puzzle template mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery.
+
+Args:
+    I:  The puzzle image source.
+    M:  The puzzle template mask.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af3184e6d3aac51d64ce9a9af9571c9c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3184e6d3aac51d64ce9a9af9571c9c0">&#9670;&nbsp;</a></span>board</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">board</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88bf86be51ede2d7c2f01f43fd319476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">haveObs</td>
+        </tr>
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+</div>
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+<a id="aead43b6d6d069fa7308f0fd73166ef79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aead43b6d6d069fa7308f0fd73166ef79">&#9670;&nbsp;</a></span>haveRun</h2>
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+<div class="memitem">
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+          <td class="memname">haveRun</td>
+        </tr>
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+
+</div>
+</div>
+<a id="a8d45eb075e342eaee415087ca2aa40f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d45eb075e342eaee415087ca2aa40f9">&#9670;&nbsp;</a></span>haveState</h2>
+
+<div class="memitem">
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+        </tr>
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+
+</div>
+</div>
+<a id="a66cc12e3c6d68de3fef6de89cf033f67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66cc12e3c6d68de3fef6de89cf033f67">&#9670;&nbsp;</a></span>I</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">I</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a291536e8bf5e2f42dec8ed3f82b13487"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a291536e8bf5e2f42dec8ed3f82b13487">&#9670;&nbsp;</a></span>Mask</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">Mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/parse/<a class="el" href="puzzle__solver_2puzzle_2parse_2simple_8py.html">simple.py</a></li>
+</ul>
+</div><!-- contents -->
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+<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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+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac51121e665d1bb05f6b0ce7b5201bc64"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#ac51121e665d1bb05f6b0ce7b5201bc64">builtForPuzzles</a> ()</td></tr>
+<tr class="separator:ac51121e665d1bb05f6b0ce7b5201bc64"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td colspan="2" onclick="javascript:toggleInherit('pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid')"><img src="closed.png" alt="-"/>&#160;Static Public Attributes inherited from <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html">CfgCentroid</a></td></tr>
+<tr class="memitem:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroid.html#a4b99ff73a8a869319570237b5c57ab03">str</a></td></tr>
+<tr class="separator:a4b99ff73a8a869319570237b5c57ab03 inherit pub_static_attribs_classtrackpointer_1_1centroid_1_1CfgCentroid"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for centroidMulti. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a418793636fd792a2b17e86fc767ccb78">CfgCentMulti</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a418793636fd792a2b17e86fc767ccb78">CfgGridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a418793636fd792a2b17e86fc767ccb78">CfgInterlocking</a>, <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a418793636fd792a2b17e86fc767ccb78">CfgAdjacent</a>, and <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a418793636fd792a2b17e86fc767ccb78">CfgArrangement</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac51121e665d1bb05f6b0ce7b5201bc64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac51121e665d1bb05f6b0ce7b5201bc64">&#9670;&nbsp;</a></span>builtForPuzzles()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def builtForPuzzles </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentMulti</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1CfgGridded.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgGridded</a>, <a class="el" href="classpuzzle_1_1builder_1_1interlocking_1_1CfgInterlocking.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgInterlocking</a>, <a class="el" href="classpuzzle_1_1builder_1_1adjacent_1_1CfgAdjacent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgAdjacent</a>, and <a class="el" href="classpuzzle_1_1builder_1_1arrangement_1_1CfgArrangement.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgArrangement</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="parser_8py.html">parser.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parser.html">parser</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle">
+<div class="title">boardMeasure Member List</div>  </div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a2dd2b03bd87525590764483211ad1b3f">__init__</a>(self, params=CfgBoardMeasure())</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">trackpointer::centroidMulti::centroidMulti.__init__</a>(self, iPt=None, params=CfgCentMulti())</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a56e65504577431ccb6f0664dee7730e0">bMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">displayDebugState</a>(self, dbstate=None)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">emptyState</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a992c10bd96bf4e32c10a25049cf99dff">findCorrectedContours</a>(self, mask, FILTER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a4946ea6f0c4972df34d36a024788a5a3">get</a>(self, fname)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a18bb39f68bce281f0f163fd96bb09a8c">getState</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#ab26f73c3ff6d914bb322592c5b72fa4c">haveMeas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#aa84287eb1924cb7327029582f9c35d4a">labelIm</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a863afb5e67e10e94b1f7b37bfd55d636">labelImage</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3fe9e05edd4406903ae55bd7788c2dc2">mask2regions</a>(self, I, M, verbose=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a3b2484cc8a22705b2445b73498455ae6">measure</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">trackpointer::centroidMulti::centroidMulti.measure</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a8ff8655164e312e194327f31593cbe38">offset</a>(self, dp)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a49807f064f750d752afe06f69780ef03">pieceConstructor</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">predict</a>(self)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a5addf66038843732afc1aa9419b7baaa">process</a>(self, I, M)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">trackpointer::centroidMulti::centroidMulti.process</a>(self, I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a1410b000f748b7695272141a8388ce53">regionProposal</a>(I)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a6f2734931a2e7b4a081647dfa26e9457">regions2pieces</a>(self, regions)</td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a6d6cfe637269a3be394964d5b1462edd">set</a>(self, fname, fval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ac9f7bc8117e3762e4ffeadd7525de3d6">setIfMissing</a>(self, params, pname, pval)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">setState</a>(self, dPt)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4878b4096cf3940de12940c8db25027b">tparams</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a34cf4ef155300b4e2ab8303af37669ce">tpt</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html">boardMeasure</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ae7bf5e3cc14999a762fa96fdf1f63776">trackProps</a></td><td class="entry"><a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html">centroidMulti</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#af6e79d6276dd4457be1bed016ac7cc28">transform</a>(self, g)</td><td class="entry"><a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html">centroid</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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diff --git a/docs/classpuzzle_1_1parser_1_1boardMeasure.html b/docs/classpuzzle_1_1parser_1_1boardMeasure.html
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+<title>IVALab Python Libraries: boardMeasure Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="classpuzzle_1_1parser_1_1boardMeasure-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">boardMeasure Class Reference</div>  </div>
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+<div class="contents">
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+Inheritance diagram for boardMeasure:</div>
+<div class="dyncontent">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:a3b2484cc8a22705b2445b73498455ae6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5addf66038843732afc1aa9419b7baaa"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardMeasure.html#a5addf66038843732afc1aa9419b7baaa">process</a> (self, I, M)</td></tr>
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+<tr class="separator:a5addf66038843732afc1aa9419b7baaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6f2734931a2e7b4a081647dfa26e9457"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2dd2b03bd87525590764483211ad1b3f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2dd2b03bd87525590764483211ad1b3f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em> = <code><a class="el" href="classpuzzle_1_1parser_1_1CfgBoardMeasure.html">CfgBoardMeasure</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece layer parsing class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The parameters/config settings for the track pointer. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a992c10bd96bf4e32c10a25049cf99dff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a992c10bd96bf4e32c10a25049cf99dff">&#9670;&nbsp;</a></span>findCorrectedContours()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def findCorrectedContours </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>FILTER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Find the right contours given a binary mask image.
+
+@param[in]  mask    The input binary mask image.
+@param[in]  FILTER  Options (set to TRUE).
+
+@param[ou]  desired_cnts    Contour list.
+</pre> 
+</div>
+</div>
+<a id="a18bb39f68bce281f0f163fd96bb09a8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a18bb39f68bce281f0f163fd96bb09a8c">&#9670;&nbsp;</a></span>getState()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getState </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Return the track-pointer state. </p>
+<p>Override the original one.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">tstate</td><td>Return the board measurement track state. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>.</p>
+
+</div>
+</div>
+<a id="a3fe9e05edd4406903ae55bd7788c2dc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fe9e05edd4406903ae55bd7788c2dc2">&#9670;&nbsp;</a></span>mask2regions()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def mask2regions </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the selection mask into a bunch of regions.
+   Mainly based on findContours function.
+
+Args:
+I:  RGB image.
+M:  Mask image.
+
+Returns:
+regions: A list of regions (mask, segmented image, location in the source image).
+</pre> 
+</div>
+</div>
+<a id="a3b2484cc8a22705b2445b73498455ae6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b2484cc8a22705b2445b73498455ae6">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process the passed imagery to recover puzzle pieces and manage their track states. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>RGB image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Mask image. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5addf66038843732afc1aa9419b7baaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5addf66038843732afc1aa9419b7baaa">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Run the tracking pipeline for image measurement. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>RGB image. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a6f2734931a2e7b4a081647dfa26e9457"></a>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def regions2pieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
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+          <td></td>
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+        </tr>
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+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+<p>Convert the region information into puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">regions</td><td>List of region pairs (mask, segmented image, location in the source image).</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">pieces</td><td>List of puzzle pieces instances. </td></tr>
+  </table>
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+</ul>
+</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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+</a> 1.8.17
+</small></address>
+</body>
+</html>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a8d45eb075e342eaee415087ca2aa40f9">haveState</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a></td><td class="entry"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></td><td class="entry"></td></tr>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1parser.html">parser</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html">boardPerceive</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1parser_1_1boardPerceive-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">boardPerceive Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>A simple perceiver for recovering puzzle pieces from a layer mask and an image.  
+ <a href="classpuzzle_1_1parser_1_1boardPerceive.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for boardPerceive:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardPerceive__inherit__graph.png" border="0" usemap="#boardPerceive_inherit__map" alt="Inheritance graph"/></div>
+<map name="boardPerceive_inherit__map" id="boardPerceive_inherit__map">
+<area shape="rect" title="A simple perceiver for recovering puzzle pieces from a layer mask and an image." alt="" coords="5,80,120,107"/>
+<area shape="rect" title=" " alt="" coords="21,5,104,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for boardPerceive:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1parser_1_1boardPerceive__coll__graph.png" border="0" usemap="#boardPerceive_coll__map" alt="Collaboration graph"/></div>
+<map name="boardPerceive_coll__map" id="boardPerceive_coll__map">
+<area shape="rect" title="A simple perceiver for recovering puzzle pieces from a layer mask and an image." alt="" coords="5,80,120,107"/>
+<area shape="rect" title=" " alt="" coords="21,5,104,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:ac2126adb99433d6a491cb620dbc71afe"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ac2126adb99433d6a491cb620dbc71afe">__init__</a> (self, theParams=None, theDetector=None, theTracker=None, theFilter=None)</td></tr>
+<tr class="memdesc:ac2126adb99433d6a491cb620dbc71afe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the simple puzzler parser.  <a href="classpuzzle_1_1parser_1_1boardPerceive.html#ac2126adb99433d6a491cb620dbc71afe">More...</a><br /></td></tr>
+<tr class="separator:ac2126adb99433d6a491cb620dbc71afe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#ad1017975e2cf3f6aad2eb699e576acfb">correct</a> (self)</td></tr>
+<tr class="memdesc:ad1017975e2cf3f6aad2eb699e576acfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Preserve temporal consistency of track labels via data association.  <a href="classpuzzle_1_1parser_1_1boardPerceive.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
+<tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19b46941fa572f13c44c35eb65d65fee"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a19b46941fa572f13c44c35eb65d65fee">measure</a> (self, <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="memdesc:a19b46941fa572f13c44c35eb65d65fee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process data from mask layer and image.  <a href="classpuzzle_1_1parser_1_1boardPerceive.html#a19b46941fa572f13c44c35eb65d65fee">More...</a><br /></td></tr>
+<tr class="separator:a19b46941fa572f13c44c35eb65d65fee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a1f45766bf9d26c6a86fae753e9f7f94f">process</a> (self, <a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>, M=None)</td></tr>
+<tr class="separator:a1f45766bf9d26c6a86fae753e9f7f94f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:af3184e6d3aac51d64ce9a9af9571c9c0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#af3184e6d3aac51d64ce9a9af9571c9c0">board</a></td></tr>
+<tr class="separator:af3184e6d3aac51d64ce9a9af9571c9c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88bf86be51ede2d7c2f01f43fd319476"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td></tr>
+<tr class="separator:a88bf86be51ede2d7c2f01f43fd319476"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aead43b6d6d069fa7308f0fd73166ef79"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td></tr>
+<tr class="separator:aead43b6d6d069fa7308f0fd73166ef79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d45eb075e342eaee415087ca2aa40f9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a8d45eb075e342eaee415087ca2aa40f9">haveState</a></td></tr>
+<tr class="separator:a8d45eb075e342eaee415087ca2aa40f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a></td></tr>
+<tr class="separator:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1parser_1_1boardPerceive.html#a291536e8bf5e2f42dec8ed3f82b13487">Mask</a></td></tr>
+<tr class="separator:a291536e8bf5e2f42dec8ed3f82b13487"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>A simple perceiver for recovering puzzle pieces from a layer mask and an image. </p>
+<p>If desired, can do piece association.</p>
+<p>Being a perceiver, there is flexibility in the implementation. There will be many ways to instantiate a simple puzzle perceiver.</p>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000017">Todo:</a></b></dt><dd>Create complete implementation with track filter. </dd></dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac2126adb99433d6a491cb620dbc71afe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2126adb99433d6a491cb620dbc71afe">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theDetector</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theTracker</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFilter</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the simple puzzler parser. </p>
+<dl class="section note"><dt>Note</dt><dd>Lacks filter implementation.</dd></dl>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>Perceiver parameters. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theDetector</td><td>Detector instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theTracker</td><td>Tracker instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">theFilter</td><td>Filter instance (puzzle piece data association). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad1017975e2cf3f6aad2eb699e576acfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1017975e2cf3f6aad2eb699e576acfb">&#9670;&nbsp;</a></span>correct()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def correct </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Preserve temporal consistency of track labels via data association. </p>
+
+</div>
+</div>
+<a id="a19b46941fa572f13c44c35eb65d65fee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19b46941fa572f13c44c35eb65d65fee">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process data from mask layer and image. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">I</td><td>Puzzle image source. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">M</td><td>Puzzle template mask. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1f45766bf9d26c6a86fae753e9f7f94f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f45766bf9d26c6a86fae753e9f7f94f">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>I</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>M</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the passed imagery.
+
+Args:
+  I:  The puzzle image source.
+  M:  The puzzle template mask.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af3184e6d3aac51d64ce9a9af9571c9c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3184e6d3aac51d64ce9a9af9571c9c0">&#9670;&nbsp;</a></span>board</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">board</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88bf86be51ede2d7c2f01f43fd319476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88bf86be51ede2d7c2f01f43fd319476">&#9670;&nbsp;</a></span>haveObs</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveObs</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aead43b6d6d069fa7308f0fd73166ef79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aead43b6d6d069fa7308f0fd73166ef79">&#9670;&nbsp;</a></span>haveRun</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveRun</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8d45eb075e342eaee415087ca2aa40f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d45eb075e342eaee415087ca2aa40f9">&#9670;&nbsp;</a></span>haveState</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">haveState</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a66cc12e3c6d68de3fef6de89cf033f67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a66cc12e3c6d68de3fef6de89cf033f67">&#9670;&nbsp;</a></span>I</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">I</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a291536e8bf5e2f42dec8ed3f82b13487"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a291536e8bf5e2f42dec8ed3f82b13487">&#9670;&nbsp;</a></span>Mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">Mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="parser_8py.html">parser.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">EdgeDes Class Reference</div>  </div>
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+<tr class="separator:a7c4c82e7573d516a6dffe895cc98f613"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a id="a61569f2965b7a369eb10b6d75d410d11"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61569f2965b7a369eb10b6d75d410d11">&#9670;&nbsp;</a></span>int</h2>
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+</div>
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+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <div class="headertitle">
+<div class="title">EdgeDirection Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a0c3019616a355bfc2c285672272f5cc2">BOTTOM</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a9e61226c0b0143de70a8c52bcad2f316">LEFT</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#afd53bb4c86324b910e2ca50455a93df3">RIGHT</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a60336410c3401768b1eba127ce2b5003">TOP</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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
+</small></address>
+</body>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+<!-- iframe showing the search results (closed by default) -->
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html">EdgeDirection</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1EdgeDirection-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">EdgeDirection Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for EdgeDirection:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeDirection__inherit__graph.png" border="0" usemap="#EdgeDirection_inherit__map" alt="Inheritance graph"/></div>
+<map name="EdgeDirection_inherit__map" id="EdgeDirection_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,119,107"/>
+<area shape="rect" title=" " alt="" coords="33,5,91,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for EdgeDirection:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeDirection__coll__graph.png" border="0" usemap="#EdgeDirection_coll__map" alt="Collaboration graph"/></div>
+<map name="EdgeDirection_coll__map" id="EdgeDirection_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,119,107"/>
+<area shape="rect" title=" " alt="" coords="33,5,91,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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+<tr class="memitem:a0c3019616a355bfc2c285672272f5cc2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a0c3019616a355bfc2c285672272f5cc2">BOTTOM</a> = 3</td></tr>
+<tr class="separator:a0c3019616a355bfc2c285672272f5cc2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e61226c0b0143de70a8c52bcad2f316"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a9e61226c0b0143de70a8c52bcad2f316">LEFT</a> = 0</td></tr>
+<tr class="separator:a9e61226c0b0143de70a8c52bcad2f316"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd53bb4c86324b910e2ca50455a93df3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#afd53bb4c86324b910e2ca50455a93df3">RIGHT</a> = 1</td></tr>
+<tr class="separator:afd53bb4c86324b910e2ca50455a93df3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a60336410c3401768b1eba127ce2b5003"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeDirection.html#a60336410c3401768b1eba127ce2b5003">TOP</a> = 2</td></tr>
+<tr class="separator:a60336410c3401768b1eba127ce2b5003"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief EdgeDirection used to keep track of the direction of edges
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a0c3019616a355bfc2c285672272f5cc2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c3019616a355bfc2c285672272f5cc2">&#9670;&nbsp;</a></span>BOTTOM</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int BOTTOM = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
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+<a id="a9e61226c0b0143de70a8c52bcad2f316"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e61226c0b0143de70a8c52bcad2f316">&#9670;&nbsp;</a></span>LEFT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int LEFT = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afd53bb4c86324b910e2ca50455a93df3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd53bb4c86324b910e2ca50455a93df3">&#9670;&nbsp;</a></span>RIGHT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
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+      <table class="memname">
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+          <td class="memname">int RIGHT = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div>
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+<a id="a60336410c3401768b1eba127ce2b5003"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60336410c3401768b1eba127ce2b5003">&#9670;&nbsp;</a></span>TOP</h2>
+
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">int TOP = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html">EdgeType</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1EdgeType-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">EdgeType Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for EdgeType:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeType__inherit__graph.png" border="0" usemap="#EdgeType_inherit__map" alt="Inheritance graph"/></div>
+<map name="EdgeType_inherit__map" id="EdgeType_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,89,107"/>
+<area shape="rect" title=" " alt="" coords="18,5,77,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for EdgeType:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1EdgeType__coll__graph.png" border="0" usemap="#EdgeType_coll__map" alt="Collaboration graph"/></div>
+<map name="EdgeType_coll__map" id="EdgeType_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,89,107"/>
+<area shape="rect" title=" " alt="" coords="18,5,77,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:ab9f8db62c251bf72f9d020b8b27b1fd0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#ab9f8db62c251bf72f9d020b8b27b1fd0">FLAT</a> = 3</td></tr>
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+<tr class="memitem:a4420eb171e366558baac5096d17a8e52"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a4420eb171e366558baac5096d17a8e52">IN</a> = 1</td></tr>
+<tr class="separator:a4420eb171e366558baac5096d17a8e52"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a97b5e04ee9b2b052b49c96d5090b9f01"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a97b5e04ee9b2b052b49c96d5090b9f01">OUT</a> = 2</td></tr>
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+<tr class="memitem:a1c7b7d7f0afb43d32bc29971b997c796"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1EdgeType.html#a1c7b7d7f0afb43d32bc29971b997c796">UNDEFINED</a> = 0</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief EdgeType used to keep track of the type of edges
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab9f8db62c251bf72f9d020b8b27b1fd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab9f8db62c251bf72f9d020b8b27b1fd0">&#9670;&nbsp;</a></span>FLAT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int FLAT = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4420eb171e366558baac5096d17a8e52">&#9670;&nbsp;</a></span>IN</h2>
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+<div class="memitem">
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+        </tr>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a97b5e04ee9b2b052b49c96d5090b9f01"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97b5e04ee9b2b052b49c96d5090b9f01">&#9670;&nbsp;</a></span>OUT</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">int OUT = 2</td>
+        </tr>
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+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
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+</div><div class="memdoc">
+
+</div>
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+<a id="a1c7b7d7f0afb43d32bc29971b997c796"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c7b7d7f0afb43d32bc29971b997c796">&#9670;&nbsp;</a></span>UNDEFINED</h2>
+
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+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html">PieceStatus</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1PieceStatus-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PieceStatus Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PieceStatus:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1PieceStatus__inherit__graph.png" border="0" usemap="#PieceStatus_inherit__map" alt="Inheritance graph"/></div>
+<map name="PieceStatus_inherit__map" id="PieceStatus_inherit__map">
+<area shape="rect" title=" " alt="" coords="5,80,104,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,84,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PieceStatus:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1piece_1_1PieceStatus__coll__graph.png" border="0" usemap="#PieceStatus_coll__map" alt="Collaboration graph"/></div>
+<map name="PieceStatus_coll__map" id="PieceStatus_coll__map">
+<area shape="rect" title=" " alt="" coords="5,80,104,107"/>
+<area shape="rect" title=" " alt="" coords="25,5,84,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a036fc987ad0a2cd1ece72fb14bb10f86"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a036fc987ad0a2cd1ece72fb14bb10f86">GONE</a> = 5</td></tr>
+<tr class="separator:a036fc987ad0a2cd1ece72fb14bb10f86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08ddcbbc1b09a33f841630c00860700f"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a08ddcbbc1b09a33f841630c00860700f">INHAND</a> = 3</td></tr>
+<tr class="separator:a08ddcbbc1b09a33f841630c00860700f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a718b72ffc0f00b4a77d117806c35a9db"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a718b72ffc0f00b4a77d117806c35a9db">INVISIBLE</a> = 4</td></tr>
+<tr class="separator:a718b72ffc0f00b4a77d117806c35a9db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f3ff7b7c822ee18e3c9018b93766e5a"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">MEASURED</a> = 1</td></tr>
+<tr class="separator:a1f3ff7b7c822ee18e3c9018b93766e5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3f2c7a0f5847128ef923f34bc6358618"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3f2c7a0f5847128ef923f34bc6358618">TRACKED</a> = 2</td></tr>
+<tr class="separator:a3f2c7a0f5847128ef923f34bc6358618"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3a3f7f05081d274ef83ed669efc1c328"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">UNKNOWN</a> = 0</td></tr>
+<tr class="separator:a3a3f7f05081d274ef83ed669efc1c328"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief PieceStatus used to keep track of the status of pieces.
+</pre> </div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a036fc987ad0a2cd1ece72fb14bb10f86"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a036fc987ad0a2cd1ece72fb14bb10f86">&#9670;&nbsp;</a></span>GONE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int GONE = 5</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a08ddcbbc1b09a33f841630c00860700f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08ddcbbc1b09a33f841630c00860700f">&#9670;&nbsp;</a></span>INHAND</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int INHAND = 3</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a718b72ffc0f00b4a77d117806c35a9db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a718b72ffc0f00b4a77d117806c35a9db">&#9670;&nbsp;</a></span>INVISIBLE</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int INVISIBLE = 4</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1f3ff7b7c822ee18e3c9018b93766e5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f3ff7b7c822ee18e3c9018b93766e5a">&#9670;&nbsp;</a></span>MEASURED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int MEASURED = 1</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3f2c7a0f5847128ef923f34bc6358618"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3f2c7a0f5847128ef923f34bc6358618">&#9670;&nbsp;</a></span>TRACKED</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int TRACKED = 2</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3a3f7f05081d274ef83ed669efc1c328"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3a3f7f05081d274ef83ed669efc1c328">&#9670;&nbsp;</a></span>UNKNOWN</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int UNKNOWN = 0</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">display</a>(self, fh=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#adcd762a40ed7e6f36be723dc9ee92752">displayEdgeType</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a4ef43ff5c6d42dacbc8ffd9c8cfdc189">edge</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a3b1b996ad21b500b2c823bb3ac48487a">filtered_harris_pts</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad724e6a85ff7dd46e58c0aff32904e79">genFeature</a>(self, theMatcher)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
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+<title>IVALab Python Libraries: Regular Class Reference</title>
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+<tr class="separator:a6d620a10dad91cadcb542e6098ada619 inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7980ac02452465cec91c19514d041202 inherit pub_methods_classpuzzle_1_1piece_1_1Template"><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#a7980ac02452465cec91c19514d041202">toImage</a> (self)</td></tr>
+<tr class="separator:a7980ac02452465cec91c19514d041202 inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9d50aee8666e4242f46920d7b9a5ea inherit pub_methods_classpuzzle_1_1piece_1_1Template"><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#a0d9d50aee8666e4242f46920d7b9a5ea">update</a> (self, matchedPiece)</td></tr>
+<tr class="memdesc:a0d9d50aee8666e4242f46920d7b9a5ea inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update template board puzzle piece based on association.  <a href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">More...</a><br /></td></tr>
+<tr class="separator:a0d9d50aee8666e4242f46920d7b9a5ea inherit pub_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a093d817147278d440b80cf331713b75e"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a> (theMask, theImage, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a>, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a>)</td></tr>
+<tr class="separator:a093d817147278d440b80cf331713b75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aae2e31c92b3b4616d6d5df7f18c522a4">upgradeTemplate</a> (thePiece)</td></tr>
+<tr class="memdesc:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Given a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece.">Template</a> instance, transfer to a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance.  <a href="classpuzzle_1_1piece_1_1Regular.html#aae2e31c92b3b4616d6d5df7f18c522a4">More...</a><br /></td></tr>
+<tr class="separator:aae2e31c92b3b4616d6d5df7f18c522a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_static_methods_classpuzzle_1_1piece_1_1Template"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classpuzzle_1_1piece_1_1Template')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td></tr>
+<tr class="memitem:a17e03c4e546a0c7ae44095be46f6a5a4 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a> (radius, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a17e03c4e546a0c7ae44095be46f6a5a4 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25595eb29f8cc161cad172dcc463dc18 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a> (<a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a25595eb29f8cc161cad172dcc463dc18 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><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#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401 inherit pub_static_methods_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a8231ad0a21bc69596626af4422816d17"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a8231ad0a21bc69596626af4422816d17">class_image</a></td></tr>
+<tr class="separator:a8231ad0a21bc69596626af4422816d17"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4ef43ff5c6d42dacbc8ffd9c8cfdc189"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a4ef43ff5c6d42dacbc8ffd9c8cfdc189">edge</a></td></tr>
+<tr class="separator:a4ef43ff5c6d42dacbc8ffd9c8cfdc189"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3b1b996ad21b500b2c823bb3ac48487a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a3b1b996ad21b500b2c823bb3ac48487a">filtered_harris_pts</a></td></tr>
+<tr class="separator:a3b1b996ad21b500b2c823bb3ac48487a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17919e0aaa24a25e6ed96f555f9d2cf2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a17919e0aaa24a25e6ed96f555f9d2cf2">rectangle_pts</a></td></tr>
+<tr class="separator:a17919e0aaa24a25e6ed96f555f9d2cf2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9fef45f7bb20501084b965cd356bcd2d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a9fef45f7bb20501084b965cd356bcd2d">simple_harris_pts</a></td></tr>
+<tr class="separator:a9fef45f7bb20501084b965cd356bcd2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1piece_1_1Template"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1piece_1_1Template')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td></tr>
+<tr class="memitem:a12d1f7d73e10eb83236c3ffa4673d462 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td></tr>
+<tr class="separator:a12d1f7d73e10eb83236c3ffa4673d462 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0913a29cbdcb3f4881c6ccd812b48e5e inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td></tr>
+<tr class="separator:a0913a29cbdcb3f4881c6ccd812b48e5e inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf2488b95c97e0378c9bf49de3b50f28 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td></tr>
+<tr class="separator:acf2488b95c97e0378c9bf49de3b50f28 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a784fcaa5842051207864afbc7f3ecb8d inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">lifespan</a></td></tr>
+<tr class="separator:a784fcaa5842051207864afbc7f3ecb8d inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9dc2abe0bfe8497046692cdb09143d70 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td></tr>
+<tr class="separator:a9dc2abe0bfe8497046692cdb09143d70 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a015eb90e0de9f16e87bd149d4b9ce959 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">status</a></td></tr>
+<tr class="separator:a015eb90e0de9f16e87bd149d4b9ce959 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fb1c5cf58867b5bbc9a1b145a86f3a0 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a></td></tr>
+<tr class="separator:a2fb1c5cf58867b5bbc9a1b145a86f3a0 inherit pub_attribs_classpuzzle_1_1piece_1_1Template"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae9247c1ed56e1db05ca3b0e01966fac2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae9247c1ed56e1db05ca3b0e01966fac2">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html">PuzzleTemplate</a>&#160;</td>
+          <td class="paramname"><em>y</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>r</em> = <code>(0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em> = <code>0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus.UNKNOWN</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the regular puzzle piece.
+
+Args:
+    *argv: Input params.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1piece_1_1Template.html#ae9247c1ed56e1db05ca3b0e01966fac2">Template</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a093d817147278d440b80cf331713b75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a093d817147278d440b80cf331713b75e">&#9670;&nbsp;</a></span>buildFromMaskAndImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromMaskAndImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a mask (individual) and an image of same base dimensions, use to
+instantiate a puzzle piece template.
+
+Args:
+    theMask: The individual mask.
+    theImage: The source image.
+    rLoc: The puzzle piece location in the whole image.
+
+Returns:
+    theRegular: The puzzle piece instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a093d817147278d440b80cf331713b75e">Template</a>.</p>
+
+</div>
+</div>
+<a id="adcd762a40ed7e6f36be723dc9ee92752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adcd762a40ed7e6f36be723dc9ee92752">&#9670;&nbsp;</a></span>displayEdgeType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def displayEdgeType </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Display the edge type of the piece.
+</pre> 
+</div>
+</div>
+<a id="aed5219e329d1c20a9ff74a315433dba0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed5219e329d1c20a9ff74a315433dba0">&#9670;&nbsp;</a></span>rotatePiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotatePiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Rotate the regular puzzle piece
+
+Args:
+    theta: The rotation angle.
+
+Returns:
+    theRegular: The rotated regular piece.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">Template</a>.</p>
+
+</div>
+</div>
+<a id="a487bcf48ad330cb23410dc327e1e2f14"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a487bcf48ad330cb23410dc327e1e2f14">&#9670;&nbsp;</a></span>setEdgeType()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setEdgeType </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>direction</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>type</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the type of the chosen edge.
+
+Args:
+    direction: The edge to be set up.
+    type: The type.
+</pre> 
+</div>
+</div>
+<a id="aae2e31c92b3b4616d6d5df7f18c522a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae2e31c92b3b4616d6d5df7f18c522a4">&#9670;&nbsp;</a></span>upgradeTemplate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def upgradeTemplate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePiece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Given a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece.">Template</a> instance, transfer to a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">thePiece</td><td>Puzzle piece as a <a class="el" href="classpuzzle_1_1piece_1_1Template.html" title="Stores and encapsulates a template instance of a visual puzzle piece.">Template</a> instance. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Puzzle</td><td>piece as a <a class="el" href="classpuzzle_1_1piece_1_1Regular.html">Regular</a> instance. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8231ad0a21bc69596626af4422816d17"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8231ad0a21bc69596626af4422816d17">&#9670;&nbsp;</a></span>class_image</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">class_image</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4ef43ff5c6d42dacbc8ffd9c8cfdc189"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4ef43ff5c6d42dacbc8ffd9c8cfdc189">&#9670;&nbsp;</a></span>edge</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">edge</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3b1b996ad21b500b2c823bb3ac48487a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b1b996ad21b500b2c823bb3ac48487a">&#9670;&nbsp;</a></span>filtered_harris_pts</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">filtered_harris_pts</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a17919e0aaa24a25e6ed96f555f9d2cf2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17919e0aaa24a25e6ed96f555f9d2cf2">&#9670;&nbsp;</a></span>rectangle_pts</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rectangle_pts</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9fef45f7bb20501084b965cd356bcd2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fef45f7bb20501084b965cd356bcd2d">&#9670;&nbsp;</a></span>simple_harris_pts</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">simple_harris_pts</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aebf487f5d315cb61f0bd86455edff1fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aebf487f5d315cb61f0bd86455edff1fd">&#9670;&nbsp;</a></span>theta</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theta</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
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+
+<div id="nav-path" class="navpath">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Template Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ae9247c1ed56e1db05ca3b0e01966fac2">__init__</a>(self, PuzzleTemplate y=None, r=(0, 0), id=None, theta=0, pieceStatus=PieceStatus.UNKNOWN)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a>(theMask, theImage, cLoc, rLoc=None, pieceStatus=PieceStatus.MEASURED)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a>(radius, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a>(size, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7dcd9bcafa6f1daa814aae4742e8ddcc">displace</a>(self, dr)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a5aca3f305a0734f62e4817f18b497e38">display</a>(self, fh=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad724e6a85ff7dd46e58c0aff32904e79">genFeature</a>(self, theMatcher)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a85d25cc3b54deceae7aa48ca4152ffa4">getFeature</a>(self, theMatcher=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#ac1d6f60502cfe53549dc10ce09145b93">getMask</a>(self, theMask, offset=[0, 0])</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">lifespan</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2a08605d5ae67c5bae9d4f39f321943d">placeInImage</a>(self, theImage, offset=[0, 0], CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a30ece36acb64b9d8cc4c477a2b347211">placeInImageAt</a>(self, theImage, rc, theta=None, isCenter=False, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aed5219e329d1c20a9ff74a315433dba0">rotatePiece</a>(self, theta)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#af7cfa5c8d148b6ce6d80b8959a51fe90">setPlacement</a>(self, r, isOffset=False, isCenter=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aad996d003561d8dbeaa5b8bd3ce11b1a">setStatus</a>(self, theStatus)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">status</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a7980ac02452465cec91c19514d041202">toImage</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">update</a>(self, matchedPiece)</td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a></td><td class="entry"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1piece_1_1Template.html b/docs/classpuzzle_1_1piece_1_1Template.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Template Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="nav-path" class="navpath">
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1piece.html">piece</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1piece_1_1Template.html">Template</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1piece_1_1Template-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Template Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Stores and encapsulates a template instance of a visual puzzle piece.  
+ <a href="classpuzzle_1_1piece_1_1Template.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for Template:</div>
+<div class="dyncontent">
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+<tr class="memitem:ae9247c1ed56e1db05ca3b0e01966fac2"><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#ae9247c1ed56e1db05ca3b0e01966fac2">__init__</a> (self, <a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html">PuzzleTemplate</a> <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a>=None, r=(0, 0), <a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a>=None, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a>=0, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus.UNKNOWN</a>)</td></tr>
+<tr class="memdesc:ae9247c1ed56e1db05ca3b0e01966fac2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for template class.  <a href="classpuzzle_1_1piece_1_1Template.html#ae9247c1ed56e1db05ca3b0e01966fac2">More...</a><br /></td></tr>
+<tr class="separator:ae9247c1ed56e1db05ca3b0e01966fac2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7dcd9bcafa6f1daa814aae4742e8ddcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:ad724e6a85ff7dd46e58c0aff32904e79"><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#ad724e6a85ff7dd46e58c0aff32904e79">genFeature</a> (self, theMatcher)</td></tr>
+<tr class="separator:ad724e6a85ff7dd46e58c0aff32904e79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a85d25cc3b54deceae7aa48ca4152ffa4"><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#a85d25cc3b54deceae7aa48ca4152ffa4">getFeature</a> (self, theMatcher=None)</td></tr>
+<tr class="memdesc:a85d25cc3b54deceae7aa48ca4152ffa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the feature vector of the puzzle piece.  <a href="classpuzzle_1_1piece_1_1Template.html#a85d25cc3b54deceae7aa48ca4152ffa4">More...</a><br /></td></tr>
+<tr class="separator:a85d25cc3b54deceae7aa48ca4152ffa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac1d6f60502cfe53549dc10ce09145b93"><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#ac1d6f60502cfe53549dc10ce09145b93">getMask</a> (self, theMask, offset=[0, 0])</td></tr>
+<tr class="separator:ac1d6f60502cfe53549dc10ce09145b93"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a08605d5ae67c5bae9d4f39f321943d"><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#a2a08605d5ae67c5bae9d4f39f321943d">placeInImage</a> (self, theImage, offset=[0, 0], CONTOUR_DISPLAY=True)</td></tr>
+<tr class="separator:a2a08605d5ae67c5bae9d4f39f321943d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a30ece36acb64b9d8cc4c477a2b347211"><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#a30ece36acb64b9d8cc4c477a2b347211">placeInImageAt</a> (self, theImage, rc, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a>=None, isCenter=False, CONTOUR_DISPLAY=True)</td></tr>
+<tr class="separator:a30ece36acb64b9d8cc4c477a2b347211"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed5219e329d1c20a9ff74a315433dba0"><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#aed5219e329d1c20a9ff74a315433dba0">rotatePiece</a> (self, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a>)</td></tr>
+<tr class="separator:aed5219e329d1c20a9ff74a315433dba0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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="separator:af7cfa5c8d148b6ce6d80b8959a51fe90"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad996d003561d8dbeaa5b8bd3ce11b1a"><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#aad996d003561d8dbeaa5b8bd3ce11b1a">setStatus</a> (self, theStatus)</td></tr>
+<tr class="separator:aad996d003561d8dbeaa5b8bd3ce11b1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6d620a10dad91cadcb542e6098ada619"><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#a6d620a10dad91cadcb542e6098ada619">size</a> (self)</td></tr>
+<tr class="separator:a6d620a10dad91cadcb542e6098ada619"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7980ac02452465cec91c19514d041202"><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#a7980ac02452465cec91c19514d041202">toImage</a> (self)</td></tr>
+<tr class="separator:a7980ac02452465cec91c19514d041202"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d9d50aee8666e4242f46920d7b9a5ea"><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#a0d9d50aee8666e4242f46920d7b9a5ea">update</a> (self, matchedPiece)</td></tr>
+<tr class="memdesc:a0d9d50aee8666e4242f46920d7b9a5ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update template board puzzle piece based on association.  <a href="classpuzzle_1_1piece_1_1Template.html#a0d9d50aee8666e4242f46920d7b9a5ea">More...</a><br /></td></tr>
+<tr class="separator:a0d9d50aee8666e4242f46920d7b9a5ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a093d817147278d440b80cf331713b75e"><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#a093d817147278d440b80cf331713b75e">buildFromMaskAndImage</a> (theMask, theImage, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a>, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None, pieceStatus=<a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a>)</td></tr>
+<tr class="separator:a093d817147278d440b80cf331713b75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17e03c4e546a0c7ae44095be46f6a5a4"><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#a17e03c4e546a0c7ae44095be46f6a5a4">buildSphere</a> (radius, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a17e03c4e546a0c7ae44095be46f6a5a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25595eb29f8cc161cad172dcc463dc18"><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#a25595eb29f8cc161cad172dcc463dc18">buildSquare</a> (<a class="el" href="classpuzzle_1_1piece_1_1Template.html#a6d620a10dad91cadcb542e6098ada619">size</a>, color, <a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a>=None)</td></tr>
+<tr class="separator:a25595eb29f8cc161cad172dcc463dc18"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><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#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a12d1f7d73e10eb83236c3ffa4673d462"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a12d1f7d73e10eb83236c3ffa4673d462">cLoc</a></td></tr>
+<tr class="separator:a12d1f7d73e10eb83236c3ffa4673d462"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0913a29cbdcb3f4881c6ccd812b48e5e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a0913a29cbdcb3f4881c6ccd812b48e5e">featVec</a></td></tr>
+<tr class="separator:a0913a29cbdcb3f4881c6ccd812b48e5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf2488b95c97e0378c9bf49de3b50f28"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#acf2488b95c97e0378c9bf49de3b50f28">id</a></td></tr>
+<tr class="separator:acf2488b95c97e0378c9bf49de3b50f28"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a784fcaa5842051207864afbc7f3ecb8d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a784fcaa5842051207864afbc7f3ecb8d">lifespan</a></td></tr>
+<tr class="separator:a784fcaa5842051207864afbc7f3ecb8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9dc2abe0bfe8497046692cdb09143d70"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a9dc2abe0bfe8497046692cdb09143d70">rLoc</a></td></tr>
+<tr class="separator:a9dc2abe0bfe8497046692cdb09143d70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a015eb90e0de9f16e87bd149d4b9ce959"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a015eb90e0de9f16e87bd149d4b9ce959">status</a></td></tr>
+<tr class="separator:a015eb90e0de9f16e87bd149d4b9ce959"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aebf487f5d315cb61f0bd86455edff1fd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#aebf487f5d315cb61f0bd86455edff1fd">theta</a></td></tr>
+<tr class="separator:aebf487f5d315cb61f0bd86455edff1fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2fb1c5cf58867b5bbc9a1b145a86f3a0"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1piece_1_1Template.html#a2fb1c5cf58867b5bbc9a1b145a86f3a0">y</a></td></tr>
+<tr class="separator:a2fb1c5cf58867b5bbc9a1b145a86f3a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Stores and encapsulates a template instance of a visual puzzle piece. </p>
+<p>The language here is general, but the fact that it lives in the <a class="el" href="namespacepuzzle_1_1piece.html">puzzle.piece</a> namespace indicates that this class is strictly associated to puzzle pieces. As the base class, it probably implements the simplest, no frills version of a template puzzle piece. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ae9247c1ed56e1db05ca3b0e01966fac2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae9247c1ed56e1db05ca3b0e01966fac2">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpuzzle_1_1piece_1_1PuzzleTemplate.html">PuzzleTemplate</a>&#160;</td>
+          <td class="paramname"><em>y</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>r</em> = <code>(0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em> = <code>0</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a3a3f7f05081d274ef83ed669efc1c328">PieceStatus.UNKNOWN</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for template class. </p>
+<p>Args: y: The puzzle piece template source data, if given. It is a class instance, see puzzleTemplate. r: The puzzle piece location in the whole image. id: The puzzle piece id in the measured board. Be set up by the board. theta: The puzzle piece aligned angle. pieceStatus: The status of the puzzle pieces, including UNKNOWN, MEASURED, TRACKED, and INHAND. </p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#ae9247c1ed56e1db05ca3b0e01966fac2">Regular</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a093d817147278d440b80cf331713b75e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a093d817147278d440b80cf331713b75e">&#9670;&nbsp;</a></span>buildFromMaskAndImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromMaskAndImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pieceStatus</em> = <code><a class="el" href="classpuzzle_1_1piece_1_1PieceStatus.html#a1f3ff7b7c822ee18e3c9018b93766e5a">PieceStatus.MEASURED</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given a mask (individual) and an image of same base dimensions, use to
+instantiate a puzzle piece template.  Usually passed as cropped.
+
+@param[in] theMask      Mask of individual piece.
+@param[in] theImage     Source image with puzzle piece.
+@param[in] cLoc         Corner location of puzzle piece.
+
+@param[in] rLoc         Puzzle piece location [optional].
+@param[in] pieceStatus  Status of the puzzle piece [optional, def:MEASURED]
+
+Returns:
+    thePiece: The puzzle piece instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#a093d817147278d440b80cf331713b75e">Regular</a>.</p>
+
+</div>
+</div>
+<a id="a17e03c4e546a0c7ae44095be46f6a5a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17e03c4e546a0c7ae44095be46f6a5a4">&#9670;&nbsp;</a></span>buildSphere()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSphere </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Build a sphere piece.
+
+Args:
+    radius: The radius of the sphere.
+    color: (3,). The RGB color.
+    rLoc: (x, y). The puzzle piece location in the whole image. x: left-to-right. y:top-to-down
+    The puzzle piece instance.
+
+Returns:
+    The puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a25595eb29f8cc161cad172dcc463dc18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25595eb29f8cc161cad172dcc463dc18">&#9670;&nbsp;</a></span>buildSquare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSquare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Build a square piece.
+
+@param[in] size     Side length of the square
+@param[in] color    The RGB color [size: (3,)]
+@param[in] rLoc     Puzzle piece location whole image [(x,y) - x: left-to-right. y:top-to-down]
+
+@return Puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a7dcd9bcafa6f1daa814aae4742e8ddcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7dcd9bcafa6f1daa814aae4742e8ddcc">&#9670;&nbsp;</a></span>displace()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def displace </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dr</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displace puzzle piece.
+
+@param[in]  dr          Displacement to apply.
+@param[in]  isCenter    Boolean flag indicating if r is center reference.
+</pre> 
+</div>
+</div>
+<a id="a5aca3f305a0734f62e4817f18b497e38"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5aca3f305a0734f62e4817f18b497e38">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fh</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Display the puzzle piece contents in an image window.
+
+Args:
+    fh: The figure label/handle if available. (optional)
+
+Returns:
+    fh: The handle of the image.
+</pre> 
+</div>
+</div>
+<a id="ad724e6a85ff7dd46e58c0aff32904e79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad724e6a85ff7dd46e58c0aff32904e79">&#9670;&nbsp;</a></span>genFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def genFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMatcher</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob and then return the aligned rotation.
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+PCA is our default method which does not perform very well.
+
+Args:
+    img: A contour image.
+
+Returns:
+    theta: The aligned angle (degree).
+</pre> 
+</div>
+</div>
+<a id="a85d25cc3b54deceae7aa48ca4152ffa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85d25cc3b54deceae7aa48ca4152ffa4">&#9670;&nbsp;</a></span>getFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMatcher</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Get the feature vector of the puzzle piece. </p>
+<p>Assign if not defined based on passed matcher.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theMatcher</td><td>Optional but recommended argument that specifies the feature matching implementation. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac1d6f60502cfe53549dc10ce09145b93"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac1d6f60502cfe53549dc10ce09145b93">&#9670;&nbsp;</a></span>getMask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getMask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0,&#160;0]</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get an updated mask of the target.
+
+@param[in] theMask  Original mask of the target.
+@param[in] offset   Movement.
+
+Returns:
+    theMask: The updated mask of the target.
+</pre> 
+</div>
+</div>
+<a id="a2a08605d5ae67c5bae9d4f39f321943d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a08605d5ae67c5bae9d4f39f321943d">&#9670;&nbsp;</a></span>placeInImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0,&#160;0]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the puzzle piece into the image in the original location.
+
+@param[in] theImage     Source image to put puzzle piece into.
+@param[in] offset       Offset coordinates.
+
+@param[in] CONTOUR_DISPLAY  Flag indicating whether to display the contours.
+</pre> 
+</div>
+</div>
+<a id="a30ece36acb64b9d8cc4c477a2b347211"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30ece36acb64b9d8cc4c477a2b347211">&#9670;&nbsp;</a></span>placeInImageAt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImageAt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the puzzle piece into the image at the given location.
+
+Args:
+    theImage: The source image to put puzzle piece into.
+    rc: The coordinate location.
+    theta: The orientation of the puzzle piece (default = 0).
+    isCenter: The flag indicating whether the given location is for the center.
+    CONTOUR_DISPLAY: The flag indicating whether to display the contours.
+</pre> 
+</div>
+</div>
+<a id="aed5219e329d1c20a9ff74a315433dba0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed5219e329d1c20a9ff74a315433dba0">&#9670;&nbsp;</a></span>rotatePiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotatePiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theta</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Rotate the puzzle template instance by the given angle.
+
+Args:
+    theta: The rotated angle.
+
+Returns:
+    thePiece: A new puzzle template instance.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1piece_1_1Regular.html#aed5219e329d1c20a9ff74a315433dba0">Regular</a>.</p>
+
+</div>
+</div>
+<a id="af7cfa5c8d148b6ce6d80b8959a51fe90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af7cfa5c8d148b6ce6d80b8959a51fe90">&#9670;&nbsp;</a></span>setPlacement()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setPlacement </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>r</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isOffset</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>isCenter</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Provide pixel placement location information.
+
+@param[in]  r           Location of puzzle piece "frame origin."
+@param[in]  isOffset    Boolean flag indicating whether placement is an offset (= Delta r).
+@param[in]  isCenter    Boolean flag indicating if r is center reference.
+</pre> 
+</div>
+</div>
+<a id="aad996d003561d8dbeaa5b8bd3ce11b1a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad996d003561d8dbeaa5b8bd3ce11b1a">&#9670;&nbsp;</a></span>setStatus()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setStatus </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theStatus</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6d620a10dad91cadcb542e6098ada619"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d620a10dad91cadcb542e6098ada619">&#9670;&nbsp;</a></span>size()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def size </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the dimensions of the puzzle piece image.
+
+Returns:
+    Dimensions of the puzzle piece image
+</pre> 
+</div>
+</div>
+<a id="a7980ac02452465cec91c19514d041202"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7980ac02452465cec91c19514d041202">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Return the puzzle piece image (cropped).
+
+Returns:
+    theImage: The puzzle piece image (cropped).
+</pre> 
+</div>
+</div>
+<a id="a0d9d50aee8666e4242f46920d7b9a5ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d9d50aee8666e4242f46920d7b9a5ea">&#9670;&nbsp;</a></span>update()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def update </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchedPiece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update template board puzzle piece based on association. </p>
+<p>Performs the simplest of updates.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">matchedPiece</td><td>Latest matched measurement of a piece. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a12d1f7d73e10eb83236c3ffa4673d462"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12d1f7d73e10eb83236c3ffa4673d462">&#9670;&nbsp;</a></span>cLoc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cLoc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0913a29cbdcb3f4881c6ccd812b48e5e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0913a29cbdcb3f4881c6ccd812b48e5e">&#9670;&nbsp;</a></span>featVec</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">featVec</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acf2488b95c97e0378c9bf49de3b50f28"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf2488b95c97e0378c9bf49de3b50f28">&#9670;&nbsp;</a></span>id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">id</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a784fcaa5842051207864afbc7f3ecb8d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a784fcaa5842051207864afbc7f3ecb8d">&#9670;&nbsp;</a></span>lifespan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">lifespan</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9dc2abe0bfe8497046692cdb09143d70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9dc2abe0bfe8497046692cdb09143d70">&#9670;&nbsp;</a></span>rLoc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rLoc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a015eb90e0de9f16e87bd149d4b9ce959"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a015eb90e0de9f16e87bd149d4b9ce959">&#9670;&nbsp;</a></span>status</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">status</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aebf487f5d315cb61f0bd86455edff1fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aebf487f5d315cb61f0bd86455edff1fd">&#9670;&nbsp;</a></span>theta</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theta</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2fb1c5cf58867b5bbc9a1b145a86f3a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fb1c5cf58867b5bbc9a1b145a86f3a0">&#9670;&nbsp;</a></span>y</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">y</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="piece_8py.html">piece.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1piece_1_1Template__inherit__graph.map b/docs/classpuzzle_1_1piece_1_1Template__inherit__graph.map
new file mode 100644
index 00000000..f2b0cb37
--- /dev/null
+++ b/docs/classpuzzle_1_1piece_1_1Template__inherit__graph.map
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+<head>
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Edge Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ac1435dd11e9f9b6d5297fef4359b2d3b">__init__</a>(self, tau_shape=100, tau_color=400)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">puzzle::pieces::matcher::MatchDifferent.__init__</a>(self, theParams=CfgDifferent())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">colorFeaExtract</a>(piece, feaLength=300)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#af98041764b83d6f82b11d5084193f4d3">compare</a>(self, piece_A, piece_B, method='type')</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">puzzle::pieces::matcher::MatchDifferent.compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a9d4361310e3e223033db1f89377b319e">process</a>(self, piece, method=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ab7acfeb451527a04566cf59607a1ebd4">score</a>(self, piece_A, piece_B, method='type')</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">puzzle::pieces::matcher::MatchDifferent.score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ad6c227d398e139289685a4e1a0ce00ea">shapeFeaExtract</a>(piece, method=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge.html b/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Edge Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1edge.html">edge</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html">Edge</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1edge_1_1Edge-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Edge Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Edge:</div>
+<div class="dyncontent">
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+<div class="dynheader">
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+<div class="dyncontent">
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+<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:ac1435dd11e9f9b6d5297fef4359b2d3b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ac1435dd11e9f9b6d5297fef4359b2d3b">__init__</a> (self, <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a>=100, <a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a>=400)</td></tr>
+<tr class="separator:ac1435dd11e9f9b6d5297fef4359b2d3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af98041764b83d6f82b11d5084193f4d3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#af98041764b83d6f82b11d5084193f4d3">compare</a> (self, piece_A, piece_B, method='type')</td></tr>
+<tr class="memdesc:af98041764b83d6f82b11d5084193f4d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#af98041764b83d6f82b11d5084193f4d3">More...</a><br /></td></tr>
+<tr class="separator:af98041764b83d6f82b11d5084193f4d3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d4361310e3e223033db1f89377b319e"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a9d4361310e3e223033db1f89377b319e">process</a> (self, piece, method=None)</td></tr>
+<tr class="separator:a9d4361310e3e223033db1f89377b319e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab7acfeb451527a04566cf59607a1ebd4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ab7acfeb451527a04566cf59607a1ebd4">score</a> (self, piece_A, piece_B, method='type')</td></tr>
+<tr class="separator:ab7acfeb451527a04566cf59607a1ebd4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a5f348e9d7fb987ca19e4677c6c47cf5d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a5f348e9d7fb987ca19e4677c6c47cf5d">colorFeaExtract</a> (piece, feaLength=300)</td></tr>
+<tr class="separator:a5f348e9d7fb987ca19e4677c6c47cf5d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad6c227d398e139289685a4e1a0ce00ea"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#ad6c227d398e139289685a4e1a0ce00ea">shapeFeaExtract</a> (piece, method=None)</td></tr>
+<tr class="separator:ad6c227d398e139289685a4e1a0ce00ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a6703deaf4688efef5abb1cdfd135f6b6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a6703deaf4688efef5abb1cdfd135f6b6">tau_color</a></td></tr>
+<tr class="separator:a6703deaf4688efef5abb1cdfd135f6b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a504dadb081a2d62655e614498f16dfcc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html#a504dadb081a2d62655e614498f16dfcc">tau_shape</a></td></tr>
+<tr class="separator:a504dadb081a2d62655e614498f16dfcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac1435dd11e9f9b6d5297fef4359b2d3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac1435dd11e9f9b6d5297fef4359b2d3b">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau_shape</em> = <code>100</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau_color</em> = <code>400</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece edge class.
+150 for lab space/400 for RGB space.
+Args:
+    tau_shape: The threshold for the shape feature.
+    tau_color: The threshold for the color feature.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5f348e9d7fb987ca19e4677c6c47cf5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f348e9d7fb987ca19e4677c6c47cf5d">&#9670;&nbsp;</a></span>colorFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def colorFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>feaLength</em> = <code>300</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Extract the edge color feature from an input image of the edge.
+
+Args:
+    edge: An EdgeDes instance.
+    feaLength: The resized feature vector length setting.
+
+Returns:
+    colorFeaResizeList: The resized feature vector.
+</pre> 
+</div>
+</div>
+<a id="af98041764b83d6f82b11d5084193f4d3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af98041764b83d6f82b11d5084193f4d3">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>'type'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare between two passed puzzle piece data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Template instance with a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Template instance with a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">method</td><td>Comparison method to use.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>The comparison result (True/False). </dd></dl>
+
+</div>
+</div>
+<a id="a9d4361310e3e223033db1f89377b319e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d4361310e3e223033db1f89377b319e">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute features from the data.
+
+Args:
+    piece: A puzzle piece instance.
+    method: The method option.
+
+Returns:
+    The shape &amp; color feature vectors.
+</pre> 
+</div>
+</div>
+<a id="ab7acfeb451527a04566cf59607a1ebd4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7acfeb451527a04566cf59607a1ebd4">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>'type'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+    method: We use some built-in functions in similaritymeasures
+    (pcm/frechet_dist/area_between_two_curves/curve_length_measure/dtw)
+    or just the types of the edges.
+
+Returns:
+    distance_shape: The shape distance between the two passed data.
+    distance_color: The color distance between the two passed data.
+</pre> 
+</div>
+</div>
+<a id="ad6c227d398e139289685a4e1a0ce00ea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6c227d398e139289685a4e1a0ce00ea">&#9670;&nbsp;</a></span>shapeFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def shapeFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>method</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Extract the edge shape feature from an input image of the edge.
+
+Args:
+    edge: An EdgeDes instance.
+    method: The comparison method, we have two modes: type or shape coords.
+
+Returns:
+    shapeFeaList: The list of teh shape feature.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a6703deaf4688efef5abb1cdfd135f6b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6703deaf4688efef5abb1cdfd135f6b6">&#9670;&nbsp;</a></span>tau_color</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">tau_color</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a504dadb081a2d62655e614498f16dfcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a504dadb081a2d62655e614498f16dfcc">&#9670;&nbsp;</a></span>tau_shape</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">tau_shape</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="edge_8py.html">edge.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1edge_1_1Edge__coll__graph.map
new file mode 100644
index 00000000..0a0013a5
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgDistance Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html">CfgDistance</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html
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+<title>IVALab Python Libraries: CfgDistance Class Reference</title>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgDistance Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for distance matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgDistance:</div>
+<div class="dyncontent">
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+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for distance matcher class.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for distance matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
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+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for distance matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.map
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+<area shape="rect" id="node3" href="$classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html" title="Configuration setting specifier for puzzle piece matcher class." alt="" coords="8,155,105,181"/>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.md5
new file mode 100644
index 00000000..26365d0c
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.md5
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+df05fee2db8679c54e26f35760644e5e
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.png b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance__coll__graph.png
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgHistogramCV Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#ac79da5098a8e4042cf7929a551d86231">build_for_RGB</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgHistogramCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for Histogram puzzle comparator class.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgHistogramCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV__inherit__graph.png" border="0" usemap="#CfgHistogramCV_inherit__map" alt="Inheritance graph"/></div>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
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+<tr class="memdesc:ac79da5098a8e4042cf7929a551d86231"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines canned settings for RGB histogram matching.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#ac79da5098a8e4042cf7929a551d86231">More...</a><br /></td></tr>
+<tr class="separator:ac79da5098a8e4042cf7929a551d86231"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for Histogram puzzle comparator class. </p>
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+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
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+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
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+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac79da5098a8e4042cf7929a551d86231"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac79da5098a8e4042cf7929a551d86231">&#9670;&nbsp;</a></span>build_for_RGB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">def build_for_RGB </td>
+          <td>(</td>
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+          <td></td>
+        </tr>
+      </table>
+  </td>
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+<p>Defines canned settings for RGB histogram matching. </p>
+<p>Prioritizes a bit efficiency over accuracy. 16 bins per channel = 4096 bins, if using Cartesian product and not separating coordinate-wise, in which case it would be 48 bins.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">theParams</td><td>Default parameters instance for RGB case. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV__inherit__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV__inherit__graph.map
new file mode 100644
index 00000000..fe0a48c5
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV__inherit__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV__inherit__graph.md5
new file mode 100644
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+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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
+</small></address>
+</body>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgMoments Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgMoments Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>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.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgMoments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments__inherit__graph.png" border="0" usemap="#CfgMoments_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class." alt="" coords="7,229,109,256"/>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgMoments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments__coll__graph.png" border="0" usemap="#CfgMoments_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class." alt="" coords="7,229,109,256"/>
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+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>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. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</div><!-- contents -->
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+</a> 1.8.17
+</small></address>
+</body>
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+<div class="title">CfgPCA Member List</div>  </div>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgPCA Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgPCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>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.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgPCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA__inherit__graph.png" border="0" usemap="#CfgPCA_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Configuration setting specifier for Moments class." alt="" coords="21,304,92,331"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class." alt="" coords="5,229,108,256"/>
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+<area shape="rect" title=" " alt="" coords="17,5,96,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgPCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA__coll__graph.png" border="0" usemap="#CfgPCA_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html" title="Configuration setting specifier for difference matcher class." alt="" coords="5,229,108,256"/>
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+<area shape="rect" title=" " alt="" coords="17,5,96,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines most basic, default settings for RealSense D435.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>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. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">cfg_files</td><td>List of config files to load to merge settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines most basic, default settings for RealSense D435. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDifferent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Distance Member List</div>  </div>
+</div><!--header-->
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+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ab421c3f0984efd7d325a9e248b7b85fc">__init__</a>(self, theParams=CfgDistance())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ac77bfc6115e0703fa39a8f32fd556ce0">buildFromConfig</a>(matchConfig)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html">Distance</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html
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+<title>IVALab Python Libraries: Distance Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece histogram class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">tau</td><td>Threshold param to determine difference. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">MatchDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac77bfc6115e0703fa39a8f32fd556ce0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac77bfc6115e0703fa39a8f32fd556ce0">&#9670;&nbsp;</a></span>buildFromConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildFromConfig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>matchConfig</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the puzzle centroid value.
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  Centroid "feature" vector.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">Matcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a58a27c2bc56790fd04e4d2ff5a09744a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a58a27c2bc56790fd04e4d2ff5a09744a">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a>())</td></tr>
+<tr class="separator:a58a27c2bc56790fd04e4d2ff5a09744a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a58a27c2bc56790fd04e4d2ff5a09744a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58a27c2bc56790fd04e4d2ff5a09744a">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html">CfgHistogramCV</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece histogram class.
+
+@param[in]  tau     Threshold param to determine difference.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">MatchDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute histogram from the raw puzzle data.
+   See https://opencv-tutorial.readthedocs.io/en/latest/histogram/histogram.html
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out] Puzzle piece histogram.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">Matcher</a>.</p>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">Matcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Moments Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a124e3f798ed3c5d27698bf9298317b48">__init__</a>(self, theParams=CfgMoments())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Moments Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html">Moments</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Moments Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Uses shape moments to establish similarity.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for Moments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__inherit__graph.png" border="0" usemap="#Moments_inherit__map" alt="Inheritance graph"/></div>
+<map name="Moments_inherit__map" id="Moments_inherit__map">
+<area shape="rect" title="Uses shape moments to establish similarity." alt="" coords="24,155,107,181"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences." alt="" coords="5,80,125,107"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title=" " alt="" coords="28,5,103,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for Moments:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__coll__graph.png" border="0" usemap="#Moments_coll__map" alt="Collaboration graph"/></div>
+<map name="Moments_coll__map" id="Moments_coll__map">
+<area shape="rect" title="Uses shape moments to establish similarity." alt="" coords="24,155,107,181"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences." alt="" coords="5,80,125,107"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title=" " alt="" coords="28,5,103,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a124e3f798ed3c5d27698bf9298317b48"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a124e3f798ed3c5d27698bf9298317b48">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a>())</td></tr>
+<tr class="separator:a124e3f798ed3c5d27698bf9298317b48"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses shape moments to establish similarity. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a124e3f798ed3c5d27698bf9298317b48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a124e3f798ed3c5d27698bf9298317b48">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html">CfgMoments</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece moments class.
+
+@param[in]  tau     Threshold param to determine difference.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">MatchDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute moments from the raw puzzle data.
+
+
+See https://learnopencv.com/shape-matching-using-hu-moments-c-python/
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  huMoments: A list of huMoments value.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">Matcher</a>.</p>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">Matcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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new file mode 100644
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index 00000000..e593c834
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__inherit__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__inherit__graph.map
new file mode 100644
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__inherit__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments__inherit__graph.md5
new file mode 100644
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA-members.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA-members.html
new file mode 100644
index 00000000..d92b40a0
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA-members.html
@@ -0,0 +1,90 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchDifferent.html">matchDifferent</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PCA Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">__init__</a>(self, theParams=CfgPCA())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a>(img)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html">PCA</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html
new file mode 100644
index 00000000..7ab66716
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html
@@ -0,0 +1,291 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: PCA Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCA Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Uses pca to calculate rotation.  
+ <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__inherit__graph.png" border="0" usemap="#PCA_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Uses pca to calculate rotation." alt="" coords="41,155,89,181"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences." alt="" coords="5,80,125,107"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for PCA:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__coll__graph.png" border="0" usemap="#PCA_coll__map" alt="Collaboration graph"/></div>
+<map name="PCA_coll__map" id="PCA_coll__map">
+<area shape="rect" title="Uses pca to calculate rotation." alt="" coords="41,155,89,181"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html" title="The puzzle piece matching scores are based on differences." alt="" coords="5,80,125,107"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title=" " alt="" coords="28,5,103,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a7fa705a637a5dbce734b39e7601099d9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a>())</td></tr>
+<tr class="memdesc:a7fa705a637a5dbce734b39e7601099d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the puzzle piece histogram class.  <a href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">More...</a><br /></td></tr>
+<tr class="separator:a7fa705a637a5dbce734b39e7601099d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad405a9976110567b71f7e2ce51a35401"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#ad405a9976110567b71f7e2ce51a35401">getEig</a> (img)</td></tr>
+<tr class="separator:ad405a9976110567b71f7e2ce51a35401"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses pca to calculate rotation. </p>
+<p>WHAT IS GOING ON HERE??? WHAT IS THE POINT OF THIS PARTICULAR MATCHER?? </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7fa705a637a5dbce734b39e7601099d9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7fa705a637a5dbce734b39e7601099d9">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html">CfgPCA</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece histogram class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">tau</td><td>Threshold param to determine difference. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">MatchDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the puzzle centroid value.
+
+@param[in]  piece   Puzzle piece to use.
+
+@param[out]  The rotation of the main vector.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">Matcher</a>.</p>
+
+</div>
+</div>
+<a id="ad405a9976110567b71f7e2ce51a35401"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad405a9976110567b71f7e2ce51a35401">&#9670;&nbsp;</a></span>getEig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def getEig </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To find the major and minor axes of a blob.
+
+
+See https://alyssaq.github.io/2015/computing-the-axes-or-orientation-of-a-blob/ for details.
+
+Args: img: A mask image.
+
+Returns: dict: A dict saving centerized points, main vectors.
+</pre> 
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] The degree distance between passed puzzle piece data and stored puzzle piece. (counter-clockwise)
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">Matcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchDifferent_8py.html">matchDifferent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__coll__graph.map
new file mode 100644
index 00000000..1470bc88
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+++ b/docs/classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA__coll__graph.map
@@ -0,0 +1,5 @@
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new file mode 100644
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgSIFTCV Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgSIFTCV Class 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>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgSIFTCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for OpenCV SIFT matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgSIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__inherit__graph.png" border="0" usemap="#CfgSIFTCV_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Configuration setting specifier for OpenCV SIFT matcher class." alt="" coords="5,80,96,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,96,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for CfgSIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__coll__graph.png" border="0" usemap="#CfgSIFTCV_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="Configuration setting specifier for OpenCV SIFT matcher class." alt="" coords="5,80,96,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,96,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for similarity matcher class.  <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for OpenCV SIFT matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for similarity matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchSimilar_8py.html">matchSimilar.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV__coll__graph.map
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchSimilar.html">matchSimilar</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SIFTCV Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a62b63c91fd5513320bd960ff6e8a25c7">theThreshMatch</a>(self, theParams=CfgSIFTCV())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: SIFTCV Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matchSimilar.html">matchSimilar</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html">SIFTCV</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SIFTCV Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Uses sift features to establish similarity.  
+ <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for SIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__inherit__graph.png" border="0" usemap="#SIFTCV_inherit__map" alt="Inheritance graph"/></div>
+<map name="SIFTCV_inherit__map" id="SIFTCV_inherit__map">
+<area shape="rect" title="Uses sift features to establish similarity." alt="" coords="25,80,93,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,113,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for SIFTCV:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.png" border="0" usemap="#SIFTCV_coll__map" alt="Collaboration graph"/></div>
+<map name="SIFTCV_coll__map" id="SIFTCV_coll__map">
+<area shape="rect" title="Uses sift features to establish similarity." alt="" coords="25,80,93,107"/>
+<area shape="rect" title=" " alt="" coords="5,5,113,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute SIFT features from the raw puzzle data.  <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a62b63c91fd5513320bd960ff6e8a25c7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a62b63c91fd5513320bd960ff6e8a25c7">theThreshMatch</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>())</td></tr>
+<tr class="memdesc:a62b63c91fd5513320bd960ff6e8a25c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the puzzle piece sift class.  <a href="classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV.html#a62b63c91fd5513320bd960ff6e8a25c7">More...</a><br /></td></tr>
+<tr class="separator:a62b63c91fd5513320bd960ff6e8a25c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Uses sift features to establish similarity. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+
+Note that this code has additional calculations that estimate the transformation
+that will register or align the puzzle pieces.
+
+See references for idea behind this comparison:
+
+https://opencv24-python-tutorials.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_matcher/py_matcher.html
+and https://scikit-image.org/docs/dev/auto_examples/transform/plot_matching.html
+
+@todo   Establish whether the registration code should be here or elsewhere.  The reason for
+    being here is that it takes advantage of matching computations made to prevent
+    additional computations.
+@todo   Yet, these are done whether it is a match or not.  Better to not bother if not even
+    a match. Going to go with that by rearranging the code [2023/11/03]. Delete note
+    if acceptable.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Comparison result &amp; rotation angle(degree) &amp; other params.
+</pre> 
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compute SIFT features from the raw puzzle data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Puzzle piece to use.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">kp</td><td>SIFT keypoints. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">des</td><td>SIFT descriptor. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Compute the score between two passed puzzle piece data.
+
+@param[in] piece_A      Template instance saving a piece's info.
+@param[in] piece_B      Template instance saving a piece's info.
+
+@param[out] Distance of the feature vectors. (Overload if not proper).
+</pre> 
+</div>
+</div>
+<a id="a62b63c91fd5513320bd960ff6e8a25c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62b63c91fd5513320bd960ff6e8a25c7">&#9670;&nbsp;</a></span>theThreshMatch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def theThreshMatch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matchSimilar_1_1CfgSIFTCV.html">CfgSIFTCV</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the puzzle piece sift class. </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matchSimilar_8py.html">matchSimilar.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.map b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.map
new file mode 100644
index 00000000..19a016bc
--- /dev/null
+++ b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.map
@@ -0,0 +1,4 @@
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+<area shape="rect" id="node2" title=" " alt="" coords="5,5,113,32"/>
+</map>
diff --git a/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.md5 b/docs/classpuzzle_1_1pieces_1_1matchSimilar_1_1SIFTCV__coll__graph.md5
new file mode 100644
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@@ -0,0 +1 @@
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+<title>IVALab Python Libraries: Member List</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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">matcher</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgDifferent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: CfgDifferent Class 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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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
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+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgDifferent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for difference matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgDifferent:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of different matcher configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for difference matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">CfgMatcher</a>.</p>
+
+<p>Reimplemented in <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_1matchDifferent_1_1CfgHistogramCV.html#a418793636fd792a2b17e86fc767ccb78">CfgHistogramCV</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">CfgDistance</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
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+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for difference matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMatcher</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMoments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgHistogramCV</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDistance</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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new file mode 100644
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgMatcher Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a>()</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html
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+<title>IVALab Python Libraries: CfgMatcher Class 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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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgMatcher Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Configuration setting specifier for puzzle piece matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for CfgMatcher:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher__inherit__graph.png" border="0" usemap="#CfgMatcher_inherit__map" alt="Inheritance graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a418793636fd792a2b17e86fc767ccb78"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">__init__</a> (self, init_dict=None, key_list=None, new_allowed=True)</td></tr>
+<tr class="memdesc:a418793636fd792a2b17e86fc767ccb78"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor of configuration instance.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">More...</a><br /></td></tr>
+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for puzzle piece matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">init_dict</td><td>Dictionary to use that expands default one. Usually not given. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#a418793636fd792a2b17e86fc767ccb78">AlgConfig</a>.</p>
+
+<p>Reimplemented in <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="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>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a418793636fd792a2b17e86fc767ccb78">CfgDistance</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a> class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgPCA.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgMoments.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMoments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgSimilar</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDifferent</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgHistogramCV.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgHistogramCV</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1CfgDistance.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgDistance</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
+</small></address>
+</body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">CfgSimilar Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a418793636fd792a2b17e86fc767ccb78">__init__</a>(self, init_dict=None, key_list=None, new_allowed=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a>(self, **kwargs)</td><td class="entry"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td><td class="entry"></td></tr>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">CfgSimilar Class Reference</div>  </div>
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+<div class="contents">
+
+<p>Configuration setting specifier for similar matcher class.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#details">More...</a></p>
+<div class="dynheader">
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+<tr class="separator:a418793636fd792a2b17e86fc767ccb78"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classdetector_1_1Configuration_1_1AlgConfig')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html">AlgConfig</a></td></tr>
+<tr class="memitem:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1Configuration_1_1AlgConfig.html#aa3168d8dd0b9112cc7f671d7d16ac33c">dump</a> (self, **kwargs)</td></tr>
+<tr class="separator:aa3168d8dd0b9112cc7f671d7d16ac33c inherit pub_methods_classdetector_1_1Configuration_1_1AlgConfig"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
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+<tr class="memitem:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Defines default configuration parameter for similarity matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
+<tr class="separator:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Configuration setting specifier for similar matcher class. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a418793636fd792a2b17e86fc767ccb78"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a418793636fd792a2b17e86fc767ccb78">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_dict</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>key_list</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>new_allowed</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor of different matcher configuration instance. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
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+    <tr><td class="paramdir">[in]</td><td class="paramname">key_list</td><td>Unsure. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">new_allowed</td><td>Are new entries allowed. Default is yes. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a418793636fd792a2b17e86fc767ccb78">CfgMatcher</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2a49d49fc8fc3be34d358f8a4a0e75be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2a49d49fc8fc3be34d358f8a4a0e75be">&#9670;&nbsp;</a></span>get_default_settings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def get_default_settings </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Defines default configuration parameter for similarity matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[out]</td><td class="paramname">default_dict</td><td>Dictionary populated with minimal set of default settings. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgMatcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <div class="headertitle">
+<div class="title">MatchDifferent Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a>(self, theParams=CfgDifferent())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">matcher</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html">MatchDifferent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MatchDifferent Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>The puzzle piece matching scores are based on differences.  
+ <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for MatchDifferent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent__inherit__graph.png" border="0" usemap="#MatchDifferent_inherit__map" alt="Inheritance graph"/></div>
+<map name="MatchDifferent_inherit__map" id="MatchDifferent_inherit__map">
+<area shape="rect" title="The puzzle piece matching scores are based on differences." alt="" coords="181,80,301,107"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1edge_1_1Edge.html" title=" " alt="" coords="5,155,60,181"/>
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+<area shape="rect" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html" title="Uses shape moments to establish similarity." alt="" coords="319,155,402,181"/>
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+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title=" " alt="" coords="203,5,278,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for MatchDifferent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent__coll__graph.png" border="0" usemap="#MatchDifferent_coll__map" alt="Collaboration graph"/></div>
+<map name="MatchDifferent_coll__map" id="MatchDifferent_coll__map">
+<area shape="rect" title="The puzzle piece matching scores are based on differences." alt="" coords="5,80,125,107"/>
+<area shape="rect" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html" title=" " alt="" coords="28,5,103,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a167cf3fd320536cab56eee4e354352b1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>())</td></tr>
+<tr class="memdesc:a167cf3fd320536cab56eee4e354352b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the difference matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">More...</a><br /></td></tr>
+<tr class="separator:a167cf3fd320536cab56eee4e354352b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare two puzzle pieces.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>The puzzle piece matching scores are based on differences. </p>
+<p>Lower is better. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a167cf3fd320536cab56eee4e354352b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a167cf3fd320536cab56eee4e354352b1">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgDifferent.html">CfgDifferent</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the difference matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The matcher configuration (optional). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">Matcher</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">PCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a124e3f798ed3c5d27698bf9298317b48">Moments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a58a27c2bc56790fd04e4d2ff5a09744a">HistogramCV</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ab421c3f0984efd7d325a9e248b7b85fc">Distance</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare two puzzle pieces. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>First puzzle piece. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Second puzzle piece.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Binary</td><td>indicator of similarity = not different (True = similar). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">Matcher</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">MatchSimilar Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">__init__</a>(self, theParams=CfgSimilar())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html b/docs/classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html
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+   <div id="projectname">IVALab Python Libraries
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">MatchSimilar Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for MatchSimilar:</div>
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+<div class="dynheader">
+Collaboration diagram for MatchSimilar:</div>
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+<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:adde0bcc0b85a16e9f2e2ab48063a7e2f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>())</td></tr>
+<tr class="separator:adde0bcc0b85a16e9f2e2ab48063a7e2f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="adde0bcc0b85a16e9f2e2ab48063a7e2f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adde0bcc0b85a16e9f2e2ab48063a7e2f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece matchSimilar class.
+
+@param[in]  tau     Threshold param to determine similarity.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">Matcher</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+
+@param[in]  piece_A     First puzzle piece.
+@param[in]  piece_B     Second puzzle piece.
+
+@param[out] Binary indicator of similarity (True = similar).
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">Matcher</a>.</p>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">Sift</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+</ul>
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1matcher.html">matcher</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Matcher Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Matcher:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1matcher_1_1Matcher__inherit__graph.png" border="0" usemap="#Matcher_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title=" " alt="" coords="333,5,407,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a441e675aded864250a1f120a905bcd75"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a>)</td></tr>
+<tr class="memdesc:a441e675aded864250a1f120a905bcd75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the matcher class.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a441e675aded864250a1f120a905bcd75">More...</a><br /></td></tr>
+<tr class="separator:a441e675aded864250a1f120a905bcd75"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compare between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">More...</a><br /></td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a13e0dd98dfa8069f3510356f495e0d16"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">score</a> (self, piece_A, piece_B)</td></tr>
+<tr class="memdesc:a13e0dd98dfa8069f3510356f495e0d16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the score between two passed puzzle piece data.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">More...</a><br /></td></tr>
+<tr class="separator:a13e0dd98dfa8069f3510356f495e0d16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a441e675aded864250a1f120a905bcd75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a441e675aded864250a1f120a905bcd75">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgMatcher.html">CfgMatcher</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Constructor for the matcher class. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">theParams</td><td>The matcher configuration (optional). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">MatchSimilar</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a7fa705a637a5dbce734b39e7601099d9">PCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a124e3f798ed3c5d27698bf9298317b48">Moments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a58a27c2bc56790fd04e4d2ff5a09744a">HistogramCV</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#ab421c3f0984efd7d325a9e248b7b85fc">Distance</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a167cf3fd320536cab56eee4e354352b1">MatchDifferent</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compare between two passed puzzle piece data. </p>
+<p>This member function should be overloaded.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Puzzle piece A instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Puzzle piece B instance.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Outcome</td><td>of matching classification, when function overloaded. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">MatchSimilar</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchDifferent.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">MatchDifferent</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">Sift</a>.</p>
+
+</div>
+</div>
+<a id="a170ae1eff1d6205d8c62dbbf1aa16534"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170ae1eff1d6205d8c62dbbf1aa16534">&#9670;&nbsp;</a></span>extractFeature()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def extractFeature </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Process raw puzzle piece data to obtain encoded description of piece. </p>
+<p>Use to recognize/associate the piece given new measurements. This member function should be overloaded.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece</td><td>Template instance saving a piece's info.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">featVec</td><td>The "feature" vector. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a170ae1eff1d6205d8c62dbbf1aa16534">PCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a170ae1eff1d6205d8c62dbbf1aa16534">Moments</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a170ae1eff1d6205d8c62dbbf1aa16534">HistogramCV</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Distance.html#a170ae1eff1d6205d8c62dbbf1aa16534">Distance</a>.</p>
+
+</div>
+</div>
+<a id="a13e0dd98dfa8069f3510356f495e0d16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a13e0dd98dfa8069f3510356f495e0d16">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Compute the score between two passed puzzle piece data. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_A</td><td>Template instance saving a piece's info. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">piece_B</td><td>Template instance saving a piece's info.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">Distance</td><td>of the feature vectors. (Overload if not proper). </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad3a096d493b8920d206b2a8b2f62816c">Sift</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1PCA.html#a13e0dd98dfa8069f3510356f495e0d16">PCA</a>, <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1Moments.html#a13e0dd98dfa8069f3510356f495e0d16">Moments</a>, and <a class="el" href="classpuzzle_1_1pieces_1_1matchDifferent_1_1HistogramCV.html#a13e0dd98dfa8069f3510356f495e0d16">HistogramCV</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
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+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="matcher_8py.html">matcher.py</a></li>
+</ul>
+</div><!-- contents -->
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+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
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+</body>
+</html>
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diff --git a/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift-members.html b/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces.html">pieces</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1pieces_1_1sift.html">sift</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Sift Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a096e091d7701946cc970e1b4b9ad695f">__init__</a>(self, tau=10, theThreshMatch=0.5)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">puzzle::pieces::matcher::MatchSimilar.__init__</a>(self, theParams=CfgSimilar())</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a>(self, piece_A, piece_B)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">kpFeaExtract</a>(piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a77e8741ddbf6f9accfba792c81b10d07">process</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad3a096d493b8920d206b2a8b2f62816c">score</a>(self, yA, yB)</td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ae24a660dcbbbe4ab500d1a6e7692947a">theThreshMatch</a></td><td class="entry"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html">Sift</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift.html b/docs/classpuzzle_1_1pieces_1_1sift_1_1Sift.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Sift Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1pieces_1_1sift_1_1Sift-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Sift Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Sift:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1pieces_1_1sift_1_1Sift__inherit__graph.png" border="0" usemap="#Sift_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a096e091d7701946cc970e1b4b9ad695f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a096e091d7701946cc970e1b4b9ad695f">__init__</a> (self, tau=10, <a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ae24a660dcbbbe4ab500d1a6e7692947a">theThreshMatch</a>=0.5)</td></tr>
+<tr class="separator:a096e091d7701946cc970e1b4b9ad695f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">compare</a> (self, piece_A, piece_B)</td></tr>
+<tr class="separator:a6ffb4afa6fff0c7071e0c0c989f13ad8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a77e8741ddbf6f9accfba792c81b10d07"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#a77e8741ddbf6f9accfba792c81b10d07">process</a> (self, piece)</td></tr>
+<tr class="separator:a77e8741ddbf6f9accfba792c81b10d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad3a096d493b8920d206b2a8b2f62816c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad3a096d493b8920d206b2a8b2f62816c">score</a> (self, yA, yB)</td></tr>
+<tr class="separator:ad3a096d493b8920d206b2a8b2f62816c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html">MatchSimilar</a></td></tr>
+<tr class="memitem:adde0bcc0b85a16e9f2e2ab48063a7e2f inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#adde0bcc0b85a16e9f2e2ab48063a7e2f">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1CfgSimilar.html">CfgSimilar</a>())</td></tr>
+<tr class="separator:adde0bcc0b85a16e9f2e2ab48063a7e2f inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">extractFeature</a> (self, piece)</td></tr>
+<tr class="memdesc:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process raw puzzle piece data to obtain encoded description of piece.  <a href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a170ae1eff1d6205d8c62dbbf1aa16534">More...</a><br /></td></tr>
+<tr class="separator:a170ae1eff1d6205d8c62dbbf1aa16534 inherit pub_methods_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad47495c4c5052555b124c9648901c0fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ad47495c4c5052555b124c9648901c0fb">kpFeaExtract</a> (piece)</td></tr>
+<tr class="separator:ad47495c4c5052555b124c9648901c0fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae24a660dcbbbe4ab500d1a6e7692947a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1sift_1_1Sift.html#ae24a660dcbbbe4ab500d1a6e7692947a">theThreshMatch</a></td></tr>
+<tr class="separator:ae24a660dcbbbe4ab500d1a6e7692947a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html">Matcher</a></td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9 inherit pub_attribs_classpuzzle_1_1pieces_1_1matcher_1_1Matcher"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a096e091d7701946cc970e1b4b9ad695f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a096e091d7701946cc970e1b4b9ad695f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>tau</em> = <code>10</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theThreshMatch</em> = <code>0.5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the puzzle piece sift class.
+
+Args:
+    tau: The threshold param to determine similarity for SIFT feature.
+    theThreshMatch: The threshold to determine match (0-1).
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a6ffb4afa6fff0c7071e0c0c989f13ad8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ffb4afa6fff0c7071e0c0c989f13ad8">&#9670;&nbsp;</a></span>compare()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def compare </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_A</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_B</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compare between two passed puzzle piece data.
+See https://opencv24-python-tutorials.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_matcher/py_matcher.html
+and https://scikit-image.org/docs/dev/auto_examples/transform/plot_matching.html
+
+Args:
+    piece_A: A template instance saving a piece's info.
+    piece_B: A template instance saving a piece's info.
+
+Returns:
+    Comparison result &amp; rotation angle(degree) &amp; other params.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1MatchSimilar.html#a6ffb4afa6fff0c7071e0c0c989f13ad8">MatchSimilar</a>.</p>
+
+</div>
+</div>
+<a id="ad47495c4c5052555b124c9648901c0fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad47495c4c5052555b124c9648901c0fb">&#9670;&nbsp;</a></span>kpFeaExtract()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def kpFeaExtract </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute sift features from the raw puzzle data.
+
+Args:
+    piece: A template instance saving a piece's info.
+
+Returns:
+    kp: The sift keypoints.
+    des: The sift descriptor.
+</pre> 
+</div>
+</div>
+<a id="a77e8741ddbf6f9accfba792c81b10d07"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77e8741ddbf6f9accfba792c81b10d07">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Process the puzzle piece.
+
+Returns:
+    The processed feature.
+</pre> 
+</div>
+</div>
+<a id="ad3a096d493b8920d206b2a8b2f62816c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad3a096d493b8920d206b2a8b2f62816c">&#9670;&nbsp;</a></span>score()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def score </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>yA</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>yB</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the score between two passed puzzle piece data.
+
+Args:
+    yA: A template instance saving a piece's info.
+    yB: A template instance saving a piece's info.
+
+Returns:
+    distance: The distance between the two passed puzzle piece data.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1pieces_1_1matcher_1_1Matcher.html#a13e0dd98dfa8069f3510356f495e0d16">Matcher</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae24a660dcbbbe4ab500d1a6e7692947a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae24a660dcbbbe4ab500d1a6e7692947a">&#9670;&nbsp;</a></span>theThreshMatch</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">theThreshMatch</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/pieces/<a class="el" href="sift_8py.html">sift.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<script type="text/javascript" src="dynsections.js"></script>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1runner.html">runner</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1runner_1_1RealSolver-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">RealSolver Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<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:a2d0cde796fa624140443ef40c8f2f34f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2d0cde796fa624140443ef40c8f2f34f">__init__</a> (self, theParams=<a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a>)</td></tr>
+<tr class="separator:a2d0cde796fa624140443ef40c8f2f34f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d2c1ff850bd34e3077458b7d409b479"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a8d2c1ff850bd34e3077458b7d409b479">calibrate</a> (self, theImageMea, <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a>, <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a>, option=1, <a class="el" href="namespacepuzzle_1_1runner.html#ab3f078684998b83967d507d0f453f454">verbose</a>=False)</td></tr>
+<tr class="separator:a8d2c1ff850bd34e3077458b7d409b479"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e583b969a686055830fe3167dba71c0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a9e583b969a686055830fe3167dba71c0">getMeaBoard</a> (self)</td></tr>
+<tr class="separator:a9e583b969a686055830fe3167dba71c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad276d829ad85d687d0791ef259efab81"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#ad276d829ad85d687d0791ef259efab81">getSolBoard</a> (self)</td></tr>
+<tr class="separator:ad276d829ad85d687d0791ef259efab81"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7014699b5efa8f1feb9c82209672179d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a7014699b5efa8f1feb9c82209672179d">process</a> (self, theImageMea, <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a>, <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a>, <a class="el" href="namespacepuzzle_1_1runner.html#ab3f078684998b83967d507d0f453f454">verbose</a>=False)</td></tr>
+<tr class="separator:a7014699b5efa8f1feb9c82209672179d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71a513e1c39c80a8b05a13421b70cbce"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a71a513e1c39c80a8b05a13421b70cbce">progress</a> (self, USE_MEASURED=True)</td></tr>
+<tr class="separator:a71a513e1c39c80a8b05a13421b70cbce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe3437fd8d3cec471f3d3482f60ad09b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#abe3437fd8d3cec471f3d3482f60ad09b">setSolBoard</a> (self, img_input, input=None)</td></tr>
+<tr class="separator:abe3437fd8d3cec471f3d3482f60ad09b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:aa2f349dfee9b1110e25265d7e980da95"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#aa2f349dfee9b1110e25265d7e980da95">bMeasImage</a></td></tr>
+<tr class="separator:aa2f349dfee9b1110e25265d7e980da95"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7acda815669372e54df04fd4a4a491b8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a7acda815669372e54df04fd4a4a491b8">bSolImage</a></td></tr>
+<tr class="separator:a7acda815669372e54df04fd4a4a491b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2118ff93d9d0097174c9ea0b60e3e362"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2118ff93d9d0097174c9ea0b60e3e362">bTrackImage</a></td></tr>
+<tr class="separator:a2118ff93d9d0097174c9ea0b60e3e362"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0279d7cda5bb32a73334f852ed20136b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a0279d7cda5bb32a73334f852ed20136b">bTrackImage_SolID</a></td></tr>
+<tr class="separator:a0279d7cda5bb32a73334f852ed20136b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9993320adb175b89e5500acf486a19c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a9993320adb175b89e5500acf486a19c5">theCalibrated</a></td></tr>
+<tr class="separator:a9993320adb175b89e5500acf486a19c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af190e1ce1d44ba0da831d0f0955b33eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#af190e1ce1d44ba0da831d0f0955b33eb">theManager</a></td></tr>
+<tr class="separator:af190e1ce1d44ba0da831d0f0955b33eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e7c6ee711063155cb215db2fa11fe06"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a1e7c6ee711063155cb215db2fa11fe06">thePlanner</a></td></tr>
+<tr class="separator:a1e7c6ee711063155cb215db2fa11fe06"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1dfc3130d871394a0ab620582c36545f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a1dfc3130d871394a0ab620582c36545f">thePrevImage</a></td></tr>
+<tr class="separator:a1dfc3130d871394a0ab620582c36545f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2e797c1a975adcc4279ba004f08a4728"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html#a2e797c1a975adcc4279ba004f08a4728">theSolver</a></td></tr>
+<tr class="separator:a2e797c1a975adcc4279ba004f08a4728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2d0cde796fa624140443ef40c8f2f34f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2d0cde796fa624140443ef40c8f2f34f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a8d2c1ff850bd34e3077458b7d409b479"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d2c1ff850bd34e3077458b7d409b479">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker_BEV</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board from a rosbag for calibration.
+
+Args:
+    theImageMea: The input image (from the surveillance system).
+    visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
+    hTracker_BEV: The location of the hand in the BEV.
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle</pre> 
+</div>
+</div>
+<a id="a9e583b969a686055830fe3167dba71c0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e583b969a686055830fe3167dba71c0">&#9670;&nbsp;</a></span>getMeaBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a> getMeaBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad276d829ad85d687d0791ef259efab81"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad276d829ad85d687d0791ef259efab81">&#9670;&nbsp;</a></span>getSolBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classpuzzle_1_1builder_1_1gridded_1_1Gridded.html">Gridded</a> getSolBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7014699b5efa8f1feb9c82209672179d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7014699b5efa8f1feb9c82209672179d">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hTracker_BEV</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the input from the surveillance system.
+
+Args:
+    theImageMea: The input image (from the surveillance system).
+    visibleMask: The mask image of the visible area (no hand/robot)(from the surveillance system).
+    hTracker_BEV: The location of the hand in the BEV.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a71a513e1c39c80a8b05a13421b70cbce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71a513e1c39c80a8b05a13421b70cbce">&#9670;&nbsp;</a></span>progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>USE_MEASURED</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the status of the progress. (Return the ratio of the completed puzzle pieces)
+
+Note:
+It is different from the one we used for the simulator case. There is less information we have for this progress.
+It is not always true when the matching is wrong/rotation is not correct. So there are some false positives.
+
+Args:
+    USE_MEASURED: Use the measured board or use the tracked board.
+
+Returns:
+    thePercentage: The progress.
+</pre> 
+</div>
+</div>
+<a id="abe3437fd8d3cec471f3d3482f60ad09b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe3437fd8d3cec471f3d3482f60ad09b">&#9670;&nbsp;</a></span>setSolBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setSolBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Set up the solution board.
+
+Args:
+    input: A board/path/raw image.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="aa2f349dfee9b1110e25265d7e980da95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa2f349dfee9b1110e25265d7e980da95">&#9670;&nbsp;</a></span>bMeasImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bMeasImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7acda815669372e54df04fd4a4a491b8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7acda815669372e54df04fd4a4a491b8">&#9670;&nbsp;</a></span>bSolImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bSolImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2118ff93d9d0097174c9ea0b60e3e362"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2118ff93d9d0097174c9ea0b60e3e362">&#9670;&nbsp;</a></span>bTrackImage</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bTrackImage</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+
+</div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/<a class="el" href="puzzle__solver_2puzzle_2runner_8py.html">runner.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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diff --git a/docs/classpuzzle_1_1simulator_1_1action_1_1Actions-members.html b/docs/classpuzzle_1_1simulator_1_1action_1_1Actions-members.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Actions Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a1ad92c82f2971931548d590fbc4d42f5">__init__</a>(self, loc)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a763b0d0d6cbb5a5a81692f474b6cff68">ACTION_LABELS</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#ada44531abffa3c4bd2074b126c2ecc5b">cache_piece</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#af5fd7a284c90e828412f7aa743b0f2d7">execute</a>(self, action_label, action_param=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#aeee9f371db14fda0de35d16324a167df">loc</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a1563b389d668877f951bd0f221d07b18">move</a>(self, targetLoc)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html#a383ddb0dfd01e6e9d3ad33370089a5b9">place</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1action_1_1Actions.html">Actions</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+  <div class="summary">
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+<a href="classpuzzle_1_1simulator_1_1action_1_1Actions-members.html">List of all members</a>  </div>
+  <div class="headertitle">
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+</div><!--header-->
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+<tr class="separator:aeee9f371db14fda0de35d16324a167df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<div class="memitem">
+<div class="memproto">
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+          <td>(</td>
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+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>loc</em>&#160;</td>
+        </tr>
+        <tr>
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+          <td>)</td>
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+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#af5fd7a284c90e828412f7aa743b0f2d7">&#9670;&nbsp;</a></span>execute()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">def execute </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_label</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Execute an action given the action label and parameter
+
+TODO: currently assume all actions only take one parameter. What if some action in the future requires more? How to update the API?
+</pre> 
+</div>
+</div>
+<a id="a1563b389d668877f951bd0f221d07b18"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1563b389d668877f951bd0f221d07b18">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>targetLoc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aee7a4c35e3232c131ff62b5866eb4a16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee7a4c35e3232c131ff62b5866eb4a16">&#9670;&nbsp;</a></span>pause()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pause </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a448ab4596f9e65c0a8ce88620c975517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a448ab4596f9e65c0a8ce88620c975517">&#9670;&nbsp;</a></span>pick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pick </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">Template&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a383ddb0dfd01e6e9d3ad33370089a5b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a383ddb0dfd01e6e9d3ad33370089a5b9">&#9670;&nbsp;</a></span>place()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def place </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a763b0d0d6cbb5a5a81692f474b6cff68"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a763b0d0d6cbb5a5a81692f474b6cff68">&#9670;&nbsp;</a></span>ACTION_LABELS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">ACTION_LABELS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada44531abffa3c4bd2074b126c2ecc5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada44531abffa3c4bd2074b126c2ecc5b">&#9670;&nbsp;</a></span>cache_piece</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_piece</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="aeee9f371db14fda0de35d16324a167df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeee9f371db14fda0de35d16324a167df">&#9670;&nbsp;</a></span>loc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">loc</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="action_8py.html">action.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html b/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1basic.html">basic</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Basic Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">__init__</a>(self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, shareFlag=True, theParams=ParamBasic)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">display</a>(self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a>(self, pVecs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a>(self, gt_pAssignments)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a>(self, pLocs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#aa97b10958dc6bc97e926390257a628c3">takeAction</a>(self, plan)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a>(self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a>(self, pAssignments, piece_id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic.html b/docs/classpuzzle_1_1simulator_1_1basic_1_1Basic.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Basic Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1basic.html">basic</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1basic_1_1Basic-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Basic Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Basic:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1basic_1_1Basic__inherit__graph.png" border="0" usemap="#Basic_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a068fca853e127e102fb6f725cd122f30"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">__init__</a> (self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, <a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a>=True, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1ParamBasic.html">ParamBasic</a>)</td></tr>
+<tr class="separator:a068fca853e127e102fb6f725cd122f30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2b6e950847ec6097e82dc265b335f76f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a> (self, piece)</td></tr>
+<tr class="separator:a2b6e950847ec6097e82dc265b335f76f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a815d623fa931dbb0d95b0b5448c13e30"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a28820e0ac8aa0a6360464bcf440f51b7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a> (self, pVecs)</td></tr>
+<tr class="separator:a28820e0ac8aa0a6360464bcf440f51b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac4e9b83bd359a696c197da4862896054"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac096fa774bcfaa8a77a817da18387cd2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a> (self, id)</td></tr>
+<tr class="separator:ac096fa774bcfaa8a77a817da18387cd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b46589a39bc9fddbad77a99dccf3698"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a> (self, pLocs)</td></tr>
+<tr class="separator:a7b46589a39bc9fddbad77a99dccf3698"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa97b10958dc6bc97e926390257a628c3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#aa97b10958dc6bc97e926390257a628c3">takeAction</a> (self, plan)</td></tr>
+<tr class="separator:aa97b10958dc6bc97e926390257a628c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20a58a6ce42794105906aeedda3749db"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a> (self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td></tr>
+<tr class="separator:a20a58a6ce42794105906aeedda3749db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a56b2abd19df4b0a660e46ab11e9e7c7f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a> (self, pAssignments, piece_id)</td></tr>
+<tr class="separator:a56b2abd19df4b0a660e46ab11e9e7c7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:afa9e9838abb44338f7cbe41dc6f846d4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td></tr>
+<tr class="separator:afa9e9838abb44338f7cbe41dc6f846d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64aa603bc3c6c1587e7c6542452481ac"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td></tr>
+<tr class="separator:a64aa603bc3c6c1587e7c6542452481ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4b74e4caa5ea81714e8a2e826474dc70"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td></tr>
+<tr class="separator:a4b74e4caa5ea81714e8a2e826474dc70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac0a6c1ac0e2a634305168519b4a4fa34"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td></tr>
+<tr class="separator:ac0a6c1ac0e2a634305168519b4a4fa34"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a74bb04c924794986ef19140c539e1de6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td></tr>
+<tr class="separator:a74bb04c924794986ef19140c539e1de6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6fb893bb2be67c81a1e78623f2b4cd20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td></tr>
+<tr class="separator:a6fb893bb2be67c81a1e78623f2b4cd20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td></tr>
+<tr class="separator:ae4bd085d10e18fd066c9ff3e6af72173"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a068fca853e127e102fb6f725cd122f30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a068fca853e127e102fb6f725cd122f30">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSolution</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1ParamBasic.html">ParamBasic</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the class. Requires a puzzle board.
+
+Args:
+    thePuzzle: The puzzle board.
+    theSolution: The solution board.
+    thePlanner: The planner instance.
+    theFig: The figure handle to use.
+    shareFlag: Whether to share the board with the display.
+    theParams: The params.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2b6e950847ec6097e82dc265b335f76f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b6e950847ec6097e82dc265b335f76f">&#9670;&nbsp;</a></span>addPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def addPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Add puzzle piece instance to the board.
+
+Args:
+    piece: A puzzle piece instance.
+</pre> 
+</div>
+</div>
+<a id="a815d623fa931dbb0d95b0b5448c13e30"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a815d623fa931dbb0d95b0b5448c13e30">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    theImage: The image to insert pieces into. (optional)
+    ID_DISPLAY: The flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: The flag indicating CONTOUR_DISPLAY or not.
+    BOUNDING_BOX: The flag indicating display with a limited bounding box region or not.
+</pre> 
+</div>
+</div>
+<a id="a28820e0ac8aa0a6360464bcf440f51b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28820e0ac8aa0a6360464bcf440f51b7">&#9670;&nbsp;</a></span>dragPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def dragPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pVecs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Moves pieces incrementally from where it is.
+
+Args:
+    pVecs: A dict of puzzle pieces ids and movement vector.
+</pre> 
+</div>
+</div>
+<a id="ac4e9b83bd359a696c197da4862896054"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4e9b83bd359a696c197da4862896054">&#9670;&nbsp;</a></span>progress()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def progress </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>gt_pAssignments</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the status of the progress. (Return the ratio of the completed puzzle pieces)
+
+@note
+It is still a simplified function which assumes if a puzzle piece shares the
+same id occupies the same place, then it is completed.
+
+It is not always true when the rotation is not correct.
+
+Args:
+    gt_pAssignments: The ground truth assignment.
+
+Returns:
+    thePercentage: The progress.
+</pre> 
+</div>
+</div>
+<a id="ac096fa774bcfaa8a77a817da18387cd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac096fa774bcfaa8a77a817da18387cd2">&#9670;&nbsp;</a></span>rmPiece()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rmPiece </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Remove puzzle piece instance from the board.
+
+Args:
+    id: The puzzle piece id.
+</pre> 
+</div>
+</div>
+<a id="a7b46589a39bc9fddbad77a99dccf3698"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b46589a39bc9fddbad77a99dccf3698">&#9670;&nbsp;</a></span>setPieces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setPieces </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pLocs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Sets the positions of pieces.
+
+Args:
+    pLocs: A dict of puzzle pieces ids and their locations.
+</pre> 
+</div>
+</div>
+<a id="aa97b10958dc6bc97e926390257a628c3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa97b10958dc6bc97e926390257a628c3">&#9670;&nbsp;</a></span>takeAction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeAction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>plan</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Perform the plan.
+
+Args:
+    plan: A tuple (piece_id, piece_index, action_type, action_param)
+
+Returns:
+    finishFlag: Signal indicating the end of plan.
+</pre> 
+</div>
+</div>
+<a id="a20a58a6ce42794105906aeedda3749db"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20a58a6ce42794105906aeedda3749db">&#9670;&nbsp;</a></span>toImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def toImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COLOR</em> = <code>(0,&#160;0,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BOUNDING_BOX</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Uses puzzle piece locations to create an image for
+visualizing them.  If given an image, then will place in it.
+Args:
+    theImage: The image to insert pieces into. (optional)
+    theMask: The binary mask to remove hand/or other instances. (optional)
+    ID_DISPLAY: The flag indicating ID_DISPLAY or not.
+    COLOR: The color of the background.
+    CONTOUR_DISPLAY: The flag indicating CONTOUR_DISPLAY or not.
+    BOUNDING_BOX: The flag indicating display with a limited bounding box region or not.
+
+Returns:
+    theImage: The output image.
+</pre> 
+</div>
+</div>
+<a id="a56b2abd19df4b0a660e46ab11e9e7c7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56b2abd19df4b0a660e46ab11e9e7c7f">&#9670;&nbsp;</a></span>translateAction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def translateAction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pAssignments</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Translation based on the current match and self.matchSimulator
+
+Args:
+    pAssignments: The planner's match.
+    piece_id: Index of the piece in the planner's board.
+
+Returns:
+    piece_id: Updated ID of the piece.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="afa9e9838abb44338f7cbe41dc6f846d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa9e9838abb44338f7cbe41dc6f846d4">&#9670;&nbsp;</a></span>canvas</h2>
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+
+</div>
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+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="puzzle__solver_2puzzle_2simulator_2basic_8py.html">basic.py</a></li>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1hand.html">hand</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Hand Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a5ff5726961f5be136eecfedf94a3cd25">__init__</a>(self, app, arm_image=None, arm_mask=None, theParams=ParamHand)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">app</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a1a4070296439f6fb65241e649b626e5b">arm_image</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad0a24466170afe17f03f38a6f4e9a21f">arm_mask</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a55a7f780314008ad43e0ae3667ed551f">arm_region</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#af1dad5fc1e52e729b01ebb456cc72c47">buildSphereAgent</a>(radius, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a9ed94a91dd0690fc6772dfb603c33620">buildSquareAgent</a>(size, color, rLoc=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ada44531abffa3c4bd2074b126c2ecc5b">cache_piece</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a392dbacdd2fad4f5eafa6b644f020152">execute</a>(self, puzzle, action_type, action_param=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad66bc0f5c583c656635ef414d6a81c63">move</a>(self, param)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#aee7a4c35e3232c131ff62b5866eb4a16">pause</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a648e0e4637e1b33ccde26890df437050">pick</a>(self, puzzle, piece_id=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a065a15aff338876f65f60cdee1ae2047">pieceInHand</a>(self, rLoc, dis=80)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#adb66f9faea15eef67bf92e207ec73de2">place</a>(self, puzzle)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad477a0d4deb469c7726e2a7a594222a1">placeInImage</a>(self, img, offset=[0, 0], CONTOUR_DISPLAY=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#aac54cdcc52a959a2dce7e11d8d3ca551">rotate</a>(self, action_param)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html">Hand</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<title>IVALab Python Libraries: Hand Class Reference</title>
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+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1hand_1_1Hand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Hand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="memitem:a5ff5726961f5be136eecfedf94a3cd25"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a5ff5726961f5be136eecfedf94a3cd25">__init__</a> (self, <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">app</a>, <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#a1a4070296439f6fb65241e649b626e5b">arm_image</a>=None, <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#ad0a24466170afe17f03f38a6f4e9a21f">arm_mask</a>=None, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a>)</td></tr>
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+<tr class="separator:aac54cdcc52a959a2dce7e11d8d3ca551"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9ed94a91dd0690fc6772dfb603c33620"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
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+<tr class="memitem:afe63fea7be31b0200b496d08bc6b517d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1Hand.html#afe63fea7be31b0200b496d08bc6b517d">app</a></td></tr>
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+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a5ff5726961f5be136eecfedf94a3cd25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ff5726961f5be136eecfedf94a3cd25">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>app</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>arm_image</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>arm_mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  The Agent class equip the Base with the actions and the planning ability
+
+Args:
+    app: A Template instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="af1dad5fc1e52e729b01ebb456cc72c47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1dad5fc1e52e729b01ebb456cc72c47">&#9670;&nbsp;</a></span>buildSphereAgent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSphereAgent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9ed94a91dd0690fc6772dfb603c33620"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ed94a91dd0690fc6772dfb603c33620">&#9670;&nbsp;</a></span>buildSquareAgent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">def buildSquareAgent </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a392dbacdd2fad4f5eafa6b644f020152"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a392dbacdd2fad4f5eafa6b644f020152">&#9670;&nbsp;</a></span>execute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def execute </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Execute an action given the action label and parameter
+
+Overwrite the execute function since we need to keep the self.app.rLoc updated
+Note that this is necessary only when we are using the puzzle.template as the appearance model
+</pre> 
+</div>
+</div>
+<a id="ad66bc0f5c583c656635ef414d6a81c63"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad66bc0f5c583c656635ef414d6a81c63">&#9670;&nbsp;</a></span>move()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def move </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>param</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aee7a4c35e3232c131ff62b5866eb4a16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee7a4c35e3232c131ff62b5866eb4a16">&#9670;&nbsp;</a></span>pause()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pause </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a648e0e4637e1b33ccde26890df437050"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a648e0e4637e1b33ccde26890df437050">&#9670;&nbsp;</a></span>pick()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pick </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>piece_id</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Pick up a puzzle piece (can be specified).
+
+Args:
+    puzzle: A puzzle instance.
+    piece_id: The index of the puzzle.
+
+Returns:
+    Whether have successfully performed the operation.</pre> 
+</div>
+</div>
+<a id="a065a15aff338876f65f60cdee1ae2047"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a065a15aff338876f65f60cdee1ae2047">&#9670;&nbsp;</a></span>pieceInHand()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def pieceInHand </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dis</em> = <code>80</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adb66f9faea15eef67bf92e207ec73de2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb66f9faea15eef67bf92e207ec73de2">&#9670;&nbsp;</a></span>place()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def place </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzle</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Place a puzzle piece to where the hand is.
+
+Args:
+    puzzle: A puzzle board.
+
+Returns:
+    Whether have successfully performed the operation.
+</pre> 
+</div>
+</div>
+<a id="ad477a0d4deb469c7726e2a7a594222a1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad477a0d4deb469c7726e2a7a594222a1">&#9670;&nbsp;</a></span>placeInImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def placeInImage </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>offset</em> = <code>[0,&#160;0]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Insert the hand into the image in the original location.
+
+Args:
+    img: The source image to put puzzle piece into.
+    offset: The offset list.
+</pre> 
+</div>
+</div>
+<a id="aac54cdcc52a959a2dce7e11d8d3ca551"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac54cdcc52a959a2dce7e11d8d3ca551">&#9670;&nbsp;</a></span>rotate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def rotate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>action_param</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Rotate the puzzle piece.
+
+Args:
+    action_param: The action param.
+
+Returns:</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="afe63fea7be31b0200b496d08bc6b517d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe63fea7be31b0200b496d08bc6b517d">&#9670;&nbsp;</a></span>app</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">app</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1a4070296439f6fb65241e649b626e5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1a4070296439f6fb65241e649b626e5b">&#9670;&nbsp;</a></span>arm_image</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_image</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0a24466170afe17f03f38a6f4e9a21f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0a24466170afe17f03f38a6f4e9a21f">&#9670;&nbsp;</a></span>arm_mask</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_mask</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a55a7f780314008ad43e0ae3667ed551f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55a7f780314008ad43e0ae3667ed551f">&#9670;&nbsp;</a></span>arm_region</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">arm_region</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada44531abffa3c4bd2074b126c2ecc5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada44531abffa3c4bd2074b126c2ecc5b">&#9670;&nbsp;</a></span>cache_piece</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_piece</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="hand_8py.html">hand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1hand_1_1ParamHand-members.html b/docs/classpuzzle_1_1simulator_1_1hand_1_1ParamHand-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1hand.html">hand</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">ParamHand Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">float</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html">ParamHand</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+</table></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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html b/docs/classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html
new file mode 100644
index 00000000..7762b296
--- /dev/null
+++ b/docs/classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: ParamHand Class 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</div>
+</div><!-- top -->
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+  <div class="summary">
+<a href="#pub-static-attribs">Static Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">ParamHand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-attribs"></a>
+Static Public Attributes</h2></td></tr>
+<tr class="memitem:a6a1bb6ed41f44b60e7bd83b0e9945aa7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1hand_1_1ParamHand.html#a6a1bb6ed41f44b60e7bd83b0e9945aa7">float</a></td></tr>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6a1bb6ed41f44b60e7bd83b0e9945aa7">&#9670;&nbsp;</a></span>float</h2>
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+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+        </tr>
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+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="hand_8py.html">hand.py</a></li>
+</ul>
+</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
+</small></address>
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diff --git a/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand-members.html b/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand-members.html
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1plannerHand.html">plannerHand</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">PlannerHand Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a9ea0072786b9cf395db28dd3e360fca6">__init__</a>(self, solver, manager, theParams=ParamGrid)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9760875cddd93454bc7d0a77e3abc510">puzzle::simulator::planner::Planner.__init__</a>(self, solver, Manager manager, theParams=ParamPlanner)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a12d5e6e11fe7f030ea53aa6f09e7cada">adapt</a>(self, meaBoard, visibleMask, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4802cafd4ab57a9d7d4b4180691959a3">adapt_simulator</a>(self, meaBoard, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a8ebe6485d68baa7ace485b6c83177046">displayBoard</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a43161706558a5b37e9c5578169a941db">loc_history</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">manager</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4c929e144b06b17fd349cc7601a3c747">measure</a>(self, img)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a5b3eea323714b6f50ef7e00fe1938575">process</a>(self, input, hand, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html">PlannerHand</a></td><td class="entry"></td></tr>
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+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a494a20ecd0a0354be80b354322b62cc1">record</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a2debe316c6874c013213554b33d598bf">solver</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">status_history</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#aad0f252bb2ff648694045c0385e8618a">theManager_intra</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html b/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: PlannerHand Class 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PlannerHand Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for PlannerHand:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand__inherit__graph.png" border="0" usemap="#PlannerHand_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
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+<area shape="rect" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html" title=" " alt="" coords="23,5,93,32"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a9ea0072786b9cf395db28dd3e360fca6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a9ea0072786b9cf395db28dd3e360fca6">__init__</a> (self, <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a2debe316c6874c013213554b33d598bf">solver</a>, <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">manager</a>, theParams=ParamGrid)</td></tr>
+<tr class="separator:a9ea0072786b9cf395db28dd3e360fca6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b3eea323714b6f50ef7e00fe1938575"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html#a5b3eea323714b6f50ef7e00fe1938575">process</a> (self, input, hand, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td></tr>
+<tr class="separator:a5b3eea323714b6f50ef7e00fe1938575"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1simulator_1_1planner_1_1Planner"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1simulator_1_1planner_1_1Planner')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9ea0072786b9cf395db28dd3e360fca6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ea0072786b9cf395db28dd3e360fca6">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solver</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>manager</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code>ParamGrid</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Define the general planner planning process.
+
+Args:
+    solver: The solver instance responsible for plan the execution order.
+    manager: The manager instance responsible for determining the
+    association between the measured board and the solution board
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5b3eea323714b6f50ef7e00fe1938575"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b3eea323714b6f50ef7e00fe1938575">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>hand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Draft the action plan given the measured board.
+
+Args:
+    input: A measured board or an RGB image.
+    hand: The hand instance.
+    COMPLETE_PLAN: Whether to plan the whole sequence.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Whether to compute the solver to get the next action plan.
+        Otherwise, only the board will be recognized and updated.
+Returns:
+    plan_new: The updated plan for hand.
+</pre> 
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="plannerHand_8py.html">plannerHand.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand__coll__graph.map b/docs/classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand__coll__graph.map
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<script type="text/javascript" src="menudata.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+<div id="MSearchSelectWindow"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1planner.html">planner</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">Planner Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9760875cddd93454bc7d0a77e3abc510">__init__</a>(self, solver, Manager manager, theParams=ParamPlanner)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a12d5e6e11fe7f030ea53aa6f09e7cada">adapt</a>(self, meaBoard, visibleMask, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4802cafd4ab57a9d7d4b4180691959a3">adapt_simulator</a>(self, meaBoard, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a8ebe6485d68baa7ace485b6c83177046">displayBoard</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a43161706558a5b37e9c5578169a941db">loc_history</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">manager</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4c929e144b06b17fd349cc7601a3c747">measure</a>(self, img)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9de99bd71db3e0d3eaf4742e563e51f4">process</a>(self, input, rLoc_hand=None, visibleMask=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a494a20ecd0a0354be80b354322b62cc1">record</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a2debe316c6874c013213554b33d598bf">solver</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#aad0f252bb2ff648694045c0385e8618a">theManager_intra</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1simulator_1_1planner_1_1Planner.html b/docs/classpuzzle_1_1simulator_1_1planner_1_1Planner.html
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+<title>IVALab Python Libraries: Planner Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
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+</table>
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+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1planner.html">planner</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html">Planner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1planner_1_1Planner-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Planner Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Planner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1planner_1_1Planner__inherit__graph.png" border="0" usemap="#Planner_inherit__map" alt="Inheritance graph"/></div>
+<map name="Planner_inherit__map" id="Planner_inherit__map">
+<area shape="rect" title=" " alt="" coords="23,5,93,32"/>
+<area shape="rect" href="classpuzzle_1_1simulator_1_1plannerHand_1_1PlannerHand.html" title=" " alt="" coords="5,80,111,107"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a9760875cddd93454bc7d0a77e3abc510"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9760875cddd93454bc7d0a77e3abc510">__init__</a> (self, <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a2debe316c6874c013213554b33d598bf">solver</a>, <a class="el" href="classpuzzle_1_1manager_1_1Manager.html">Manager</a> <a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">manager</a>, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1ParamPlanner.html">ParamPlanner</a>)</td></tr>
+<tr class="separator:a9760875cddd93454bc7d0a77e3abc510"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a12d5e6e11fe7f030ea53aa6f09e7cada"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a12d5e6e11fe7f030ea53aa6f09e7cada">adapt</a> (self, meaBoard, visibleMask, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td></tr>
+<tr class="separator:a12d5e6e11fe7f030ea53aa6f09e7cada"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4802cafd4ab57a9d7d4b4180691959a3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4802cafd4ab57a9d7d4b4180691959a3">adapt_simulator</a> (self, meaBoard, rLoc_hand=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td></tr>
+<tr class="separator:a4802cafd4ab57a9d7d4b4180691959a3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4c929e144b06b17fd349cc7601a3c747"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a4c929e144b06b17fd349cc7601a3c747">measure</a> (self, img)</td></tr>
+<tr class="separator:a4c929e144b06b17fd349cc7601a3c747"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9de99bd71db3e0d3eaf4742e563e51f4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a9de99bd71db3e0d3eaf4742e563e51f4">process</a> (self, input, rLoc_hand=None, visibleMask=None, COMPLETE_PLAN=True, SAVED_PLAN=True, RUN_SOLVER=True)</td></tr>
+<tr class="separator:a9de99bd71db3e0d3eaf4742e563e51f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a8ebe6485d68baa7ace485b6c83177046"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a8ebe6485d68baa7ace485b6c83177046">displayBoard</a></td></tr>
+<tr class="separator:a8ebe6485d68baa7ace485b6c83177046"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a43161706558a5b37e9c5578169a941db"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a43161706558a5b37e9c5578169a941db">loc_history</a></td></tr>
+<tr class="separator:a43161706558a5b37e9c5578169a941db"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23416379944e641a8ad6bdbc95ef1859"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a23416379944e641a8ad6bdbc95ef1859">manager</a></td></tr>
+<tr class="separator:a23416379944e641a8ad6bdbc95ef1859"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41000f175dc0115080e2a682cc06dbe9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td></tr>
+<tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a494a20ecd0a0354be80b354322b62cc1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a494a20ecd0a0354be80b354322b62cc1">record</a></td></tr>
+<tr class="separator:a494a20ecd0a0354be80b354322b62cc1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2debe316c6874c013213554b33d598bf"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a2debe316c6874c013213554b33d598bf">solver</a></td></tr>
+<tr class="separator:a2debe316c6874c013213554b33d598bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7ceb104897cb78a92288d9224eae4d2b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#a7ceb104897cb78a92288d9224eae4d2b">status_history</a></td></tr>
+<tr class="separator:a7ceb104897cb78a92288d9224eae4d2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aad0f252bb2ff648694045c0385e8618a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1Planner.html#aad0f252bb2ff648694045c0385e8618a">theManager_intra</a></td></tr>
+<tr class="separator:aad0f252bb2ff648694045c0385e8618a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9760875cddd93454bc7d0a77e3abc510"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9760875cddd93454bc7d0a77e3abc510">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>solver</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classpuzzle_1_1manager_1_1Manager.html">Manager</a>&#160;</td>
+          <td class="paramname"><em>manager</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1planner_1_1ParamPlanner.html">ParamPlanner</a></code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Work like a wrapper of solver &amp; manager in the test script.
+
+Args:
+    solver: The solver instance.
+    manager: The manager instance.
+    theParams: The params.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a12d5e6e11fe7f030ea53aa6f09e7cada"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a12d5e6e11fe7f030ea53aa6f09e7cada">&#9670;&nbsp;</a></span>adapt()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>meaBoard</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Update the tracked board/history and generate the action plan for the robot.
+
+Args:
+    meaBoard: The measured board for the current view.
+    visibleMask: The mask image for the visible area.
+    rLoc_hand: The location of the hand.
+    COMPLETE_PLAN: Whether to generate the complete plan.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Run solver or not.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a4802cafd4ab57a9d7d4b4180691959a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4802cafd4ab57a9d7d4b4180691959a3">&#9670;&nbsp;</a></span>adapt_simulator()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def adapt_simulator </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>meaBoard</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Update the tracked board/history and generate the action plan for the robot.
+       Todo: To be compatible with the old version. Maybe integrated later.
+
+Args:
+    meaBoard: The measured board for the current view.
+    visibleMask: The mask image for the visible area.
+    rLoc_hand: The location of the hand.
+    COMPLETE_PLAN: Whether to generate the complete plan.
+    SAVED_PLAN: Use the saved plan (self.plan) or not.
+    RUN_SOLVER: Run solver or not.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<a id="a4c929e144b06b17fd349cc7601a3c747"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c929e144b06b17fd349cc7601a3c747">&#9670;&nbsp;</a></span>measure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def measure </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Process the input image to get the measured board.
+
+Args:
+    img: The input image.
+
+Returns:
+    meaBoard: The measured board instance.
+</pre> 
+</div>
+</div>
+<a id="a9de99bd71db3e0d3eaf4742e563e51f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9de99bd71db3e0d3eaf4742e563e51f4">&#9670;&nbsp;</a></span>process()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def process </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>input</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rLoc_hand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>visibleMask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>RUN_SOLVER</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Draft the action plan given the measured board.
+
+@note In principle, the process is not triggered by key but should be called every processing time
+
+Args:
+    input:          A measured board or RGB image.
+    rLoc_hand:      The location of the hand.
+    visibleMask:    The mask of the visible area on the table (puzzle included).
+    COMPLETE_PLAN:  Whether to plan the whole sequence.
+    SAVED_PLAN:     Use the saved plan (self.plan) or not. NOTE: this option overwrite the COMPLETE_PLAN option. 
+            (i.e. If this is True, then the COMPLETE_PLAN will be set to true)
+    RUN_SOLVER:     Whether to compute the solver to get the next action plan.
+            Otherwise, only the board will be recognized and updated.
+Returns:
+    plan: The action plan for the simulator to perform
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a8ebe6485d68baa7ace485b6c83177046"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ebe6485d68baa7ace485b6c83177046">&#9670;&nbsp;</a></span>displayBoard</h2>
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+</div>
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+</div>
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+        </tr>
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+
+</div>
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+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
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+        </tr>
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+</div>
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+<div class="memitem">
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+          <td class="memname">record</td>
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+</div>
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+
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+</div>
+</div>
+<a id="a7ceb104897cb78a92288d9224eae4d2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ceb104897cb78a92288d9224eae4d2b">&#9670;&nbsp;</a></span>status_history</h2>
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+<div class="memitem">
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+<hr/>The documentation for this class was generated from the following file:<ul>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1simTime.html">simTime</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SimTime Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2cef39ebfd921972236c0e4b799513c6">__init__</a>(self, thePuzzle, theHand, thePlanner=None, thePlannerHand=None, theFig=None, shareFlag=True, theParams=ParamST())</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a068fca853e127e102fb6f725cd122f30">puzzle::simulator::basic::Basic.__init__</a>(self, thePuzzle, theSolution=None, thePlanner=None, theFig=None, shareFlag=True, theParams=ParamBasic)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a2b6e950847ec6097e82dc265b335f76f">addPiece</a>(self, piece)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a20c9c88bbc1fd1c6e068c6029c5196df">cache_action</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2de434e4ed5245432b7d460326696c81">calibrate</a>(self, ID_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#afa9e9838abb44338f7cbe41dc6f846d4">canvas</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a68f7a97055e94dcf71948daa0c79619d">cluster_piece_dict</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a7b8f75a9fc791856e15291f90ca3a2d8">cluster_region_list</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">display</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a815d623fa931dbb0d95b0b5448c13e30">puzzle::simulator::basic::Basic.display</a>(self, theImage=None, ID_DISPLAY=True, CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a28820e0ac8aa0a6360464bcf440f51b7">dragPieces</a>(self, pVecs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a64aa603bc3c6c1587e7c6542452481ac">fig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#af2be5e41610afb58aeec369e8bb9a524">FPS</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ac7a2b614f938a1a8b13cb8e336cae28f">FramePerSec</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a187cca46ab69a66cdff777315459c07c">hand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a36aff75e89a0f2a99eca767b6ece034d">im</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#abcd9e77a8ba151e8092d8843fe4f6878">instruction</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a4b74e4caa5ea81714e8a2e826474dc70">matchSimulator</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a41000f175dc0115080e2a682cc06dbe9">params</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac0a6c1ac0e2a634305168519b4a4fa34">planner</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a1660119e6bd8410c343d8d338ccd487e">plannerHand</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac4e9b83bd359a696c197da4862896054">progress</a>(self, gt_pAssignments)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a74bb04c924794986ef19140c539e1de6">puzzle</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a8349f5635ce188958282b983c7c74385">pygameFig</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a9b4f39b173ff2e7e06c0e05f1eae1517">reset_cache</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ac096fa774bcfaa8a77a817da18387cd2">rmPiece</a>(self, id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a7b46589a39bc9fddbad77a99dccf3698">setPieces</a>(self, pLocs)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#af39b397c00bd664699145131c1e8c0ab">simulate_step</a>(self, robot_only=False, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ad45ed340c839bfe6f689d75de9c622e6">puzzle::simulator::simTimeless::SimTimeLess.simulate_step</a>(self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a11b7452e8899bc2fed4e87950f975dd2">simulate_step_small</a>(self)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#aa97b10958dc6bc97e926390257a628c3">takeAction</a>(self, plan)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a9fabcf6aa0647a2414f7cb1a2ab2634a">timer</a></td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a20a58a6ce42794105906aeedda3749db">toImage</a>(self, theImage=None, theMask=None, ID_DISPLAY=False, COLOR=(0, 0, 0), CONTOUR_DISPLAY=True, BOUNDING_BOX=True)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#a56b2abd19df4b0a660e46ab11e9e7c7f">translateAction</a>(self, pAssignments, piece_id)</td><td class="entry"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html">Basic</a></td><td class="entry"></td></tr>
+</table></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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diff --git a/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html b/docs/classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: SimTime Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator.html">simulator</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1simulator_1_1simTime.html">simTime</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html">SimTime</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SimTime Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for SimTime:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1simTime_1_1SimTime__inherit__graph.png" border="0" usemap="#SimTime_inherit__map" alt="Inheritance graph"/></div>
+<map name="SimTime_inherit__map" id="SimTime_inherit__map">
+<area shape="rect" title=" " alt="" coords="20,155,99,181"/>
+<area shape="rect" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html" title=" " alt="" coords="5,80,113,107"/>
+<area shape="rect" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html" title=" " alt="" coords="31,5,88,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for SimTime:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1simulator_1_1simTime_1_1SimTime__coll__graph.png" border="0" usemap="#SimTime_coll__map" alt="Collaboration graph"/></div>
+<map name="SimTime_coll__map" id="SimTime_coll__map">
+<area shape="rect" title=" " alt="" coords="20,155,99,181"/>
+<area shape="rect" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html" title=" " alt="" coords="5,80,113,107"/>
+<area shape="rect" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html" title=" " alt="" coords="31,5,88,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a2cef39ebfd921972236c0e4b799513c6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2cef39ebfd921972236c0e4b799513c6">__init__</a> (self, thePuzzle, theHand, thePlanner=None, thePlannerHand=None, theFig=None, <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a6fb893bb2be67c81a1e78623f2b4cd20">shareFlag</a>=True, theParams=<a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html">ParamST</a>())</td></tr>
+<tr class="separator:a2cef39ebfd921972236c0e4b799513c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2de434e4ed5245432b7d460326696c81"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2de434e4ed5245432b7d460326696c81">calibrate</a> (self, ID_DISPLAY=True)</td></tr>
+<tr class="separator:a2de434e4ed5245432b7d460326696c81"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7d580d7a6c588c74eac0cb338c135bd"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">display</a> (self, ID_DISPLAY=True, CONTOUR_DISPLAY=True)</td></tr>
+<tr class="separator:ae7d580d7a6c588c74eac0cb338c135bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6fb893bb2be67c81a1e78623f2b4cd20 inherit pub_attribs_classpuzzle_1_1simulator_1_1basic_1_1Basic"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4bd085d10e18fd066c9ff3e6af72173 inherit pub_attribs_classpuzzle_1_1simulator_1_1basic_1_1Basic"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1simulator_1_1basic_1_1Basic.html#ae4bd085d10e18fd066c9ff3e6af72173">solution</a></td></tr>
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+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a2cef39ebfd921972236c0e4b799513c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2cef39ebfd921972236c0e4b799513c6">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theHand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlannerHand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1ParamST.html">ParamST</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief: The timeless simulator class that simulates the puzzle solving progress.
+
+The class stores an initial board, a solution board, and an agent instance.
+During the simulation, the simulator will execute the following process:
+1. Let the agent observe the board
+2. Let the agent process the board, which means:
+    2.1 Plan actions if don't know what to do (no more stored actions)
+    2.2 Execute the next planned actions
+3. If no more process result, meaning no more plans or actions to be executed,
+    then end the simulation. Otherwise repreat the above process
+
+@param[in]  thePuzzle           The current board
+@param[in]  agent               The puzzle solving agent
+@param[in]  param               The parameters
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#a6668782756ae03b087db3748c577ee0f">SimTimeLess</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2de434e4ed5245432b7d460326696c81"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2de434e4ed5245432b7d460326696c81">&#9670;&nbsp;</a></span>calibrate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def calibrate </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Provide the user with an option to manually segment the solution board into several regions by mouse. The regions could be used later.
+
+Args:
+    ID_DISPLAY: Display the ID or not.</pre> 
+</div>
+</div>
+<a id="ae7d580d7a6c588c74eac0cb338c135bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7d580d7a6c588c74eac0cb338c135bd">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    ID_DISPLAY: Flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: Flag indicating CONTOUR_DISPLAY or not.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTimeLess</a>.</p>
+
+</div>
+</div>
+<a id="abcd9e77a8ba151e8092d8843fe4f6878"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abcd9e77a8ba151e8092d8843fe4f6878">&#9670;&nbsp;</a></span>instruction()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def instruction </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Display a screen with some instructions.
+</pre> 
+</div>
+</div>
+<a id="a9b4f39b173ff2e7e06c0e05f1eae1517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9b4f39b173ff2e7e06c0e05f1eae1517">&#9670;&nbsp;</a></span>reset_cache()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def reset_cache </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Reset the cache.
+</pre> 
+</div>
+</div>
+<a id="af39b397c00bd664699145131c1e8c0ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af39b397c00bd664699145131c1e8c0ab">&#9670;&nbsp;</a></span>simulate_step()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>robot_only</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Create the simulation.
+
+Args:
+    robot_only: If there is no hand.
+    ID_DISPLAY: Display the ID on the board.
+    CONTOUR_DISPLAY: Display the contours of the puzzle pieces or not.
+</pre> 
+</div>
+</div>
+<a id="a11b7452e8899bc2fed4e87950f975dd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a11b7452e8899bc2fed4e87950f975dd2">&#9670;&nbsp;</a></span>simulate_step_small()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step_small </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Overwrite the simulate_step function
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a20c9c88bbc1fd1c6e068c6029c5196df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c9c88bbc1fd1c6e068c6029c5196df">&#9670;&nbsp;</a></span>cache_action</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cache_action</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a68f7a97055e94dcf71948daa0c79619d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68f7a97055e94dcf71948daa0c79619d">&#9670;&nbsp;</a></span>cluster_piece_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cluster_piece_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b8f75a9fc791856e15291f90ca3a2d8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b8f75a9fc791856e15291f90ca3a2d8">&#9670;&nbsp;</a></span>cluster_region_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cluster_region_list</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af2be5e41610afb58aeec369e8bb9a524"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2be5e41610afb58aeec369e8bb9a524">&#9670;&nbsp;</a></span>FPS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FPS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac7a2b614f938a1a8b13cb8e336cae28f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac7a2b614f938a1a8b13cb8e336cae28f">&#9670;&nbsp;</a></span>FramePerSec</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">FramePerSec</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8349f5635ce188958282b983c7c74385"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8349f5635ce188958282b983c7c74385">&#9670;&nbsp;</a></span>pygameFig</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">pygameFig</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6fb893bb2be67c81a1e78623f2b4cd20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fb893bb2be67c81a1e78623f2b4cd20">&#9670;&nbsp;</a></span>shareFlag</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">shareFlag</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9fabcf6aa0647a2414f7cb1a2ab2634a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9fabcf6aa0647a2414f7cb1a2ab2634a">&#9670;&nbsp;</a></span>timer</h2>
+
+<div class="memitem">
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+          <td class="memname">timer</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="simTime_8py.html">simTime.py</a></li>
+</ul>
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+</a> 1.8.17
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+</body>
+</html>
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+<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: Member List</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">SimTimeLess Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1SimTimeLess.html">SimTimeLess</a>, including all inherited members.</p>
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+</table>
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+<a id="a6668782756ae03b087db3748c577ee0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6668782756ae03b087db3748c577ee0f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theHand</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlanner</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlannerHand</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theFig</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>shareFlag</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theParams</em> = <code><a class="el" href="classpuzzle_1_1simulator_1_1simTimeless_1_1ParamSTL.html">ParamSTL</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief: The timeless simulator class that simulates the puzzle solving progress.
+
+The class stores an initial board, a solution board, and an agent instance.
+During the simulation, the simulator will execute the following process:
+1. Let the agent observe the board
+2. Let the agent process the board, which means:
+    2.1 Plan actions if don't know what to do (no more stored actions)
+    2.2 Execute the next planned actions
+3. If no more process result, meaning no more plans or actions to be executed,
+    then end the simulation. Otherwise repreat the above process
+
+@param[in]  init_board          The initial board
+@param[in]  sol_board           The solution board
+@param[in]  agent               The puzzle solving agent
+@param[in]  param               The parameters
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#a2cef39ebfd921972236c0e4b799513c6">SimTime</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae7d580d7a6c588c74eac0cb338c135bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7d580d7a6c588c74eac0cb338c135bd">&#9670;&nbsp;</a></span>display()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def display </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Displays the current puzzle board.
+
+Args:
+    ID_DISPLAY: Flag indicating ID_DISPLAY or not.
+    CONTOUR_DISPLAY: Flag indicating CONTOUR_DISPLAY or not.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1simulator_1_1simTime_1_1SimTime.html#ae7d580d7a6c588c74eac0cb338c135bd">SimTime</a>.</p>
+
+</div>
+</div>
+<a id="ad45ed340c839bfe6f689d75de9c622e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad45ed340c839bfe6f689d75de9c622e6">&#9670;&nbsp;</a></span>simulate_step()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def simulate_step </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ID_DISPLAY</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>CONTOUR_DISPLAY</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Create the simulation.
+
+Args:
+    ID_DISPLAY: Display the ID on the board.
+    CONTOUR_DISPLAY: Display the contours of the puzzle pieces or not.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a20c9c88bbc1fd1c6e068c6029c5196df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20c9c88bbc1fd1c6e068c6029c5196df">&#9670;&nbsp;</a></span>cache_action</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">cache_action</td>
+        </tr>
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+
+</div>
+</div>
+<a id="afa9e9838abb44338f7cbe41dc6f846d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afa9e9838abb44338f7cbe41dc6f846d4">&#9670;&nbsp;</a></span>canvas</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">canvas</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a64aa603bc3c6c1587e7c6542452481ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64aa603bc3c6c1587e7c6542452481ac">&#9670;&nbsp;</a></span>fig</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">fig</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a187cca46ab69a66cdff777315459c07c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a187cca46ab69a66cdff777315459c07c">&#9670;&nbsp;</a></span>hand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a36aff75e89a0f2a99eca767b6ece034d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a36aff75e89a0f2a99eca767b6ece034d">&#9670;&nbsp;</a></span>im</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">im</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a41000f175dc0115080e2a682cc06dbe9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41000f175dc0115080e2a682cc06dbe9">&#9670;&nbsp;</a></span>params</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">params</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1660119e6bd8410c343d8d338ccd487e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1660119e6bd8410c343d8d338ccd487e">&#9670;&nbsp;</a></span>plannerHand</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">plannerHand</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6fb893bb2be67c81a1e78623f2b4cd20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6fb893bb2be67c81a1e78623f2b4cd20">&#9670;&nbsp;</a></span>shareFlag</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">shareFlag</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/simulator/<a class="el" href="simTimeless_8py.html">simTimeless.py</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.17
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Base Class Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver.html">solver</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1solver_1_1base.html">base</a></li><li class="navelem"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classpuzzle_1_1solver_1_1base_1_1Base-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">Base Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for Base:</div>
+<div class="dyncontent">
+<div class="center"><img src="classpuzzle_1_1solver_1_1base_1_1Base__inherit__graph.png" border="0" usemap="#Base_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<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:a09c1977da551cf6ff09de13300cd0b19"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a09c1977da551cf6ff09de13300cd0b19">__init__</a> (self, theSol, thePuzzle)</td></tr>
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+<tr class="memitem:a88939c35e54e49996f68e04f1833291f"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a88939c35e54e49996f68e04f1833291f">setCurrBoard</a> (self, theBoard)</td></tr>
+<tr class="separator:a88939c35e54e49996f68e04f1833291f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac41924d50ff336544c5d99cd9500cfa3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ac41924d50ff336544c5d99cd9500cfa3">takeTurn</a> (self, thePlan=None)</td></tr>
+<tr class="separator:ac41924d50ff336544c5d99cd9500cfa3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td></tr>
+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6788c2131efce60abb1699742c1c9509"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">desired</a></td></tr>
+<tr class="separator:a6788c2131efce60abb1699742c1c9509"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a09c1977da551cf6ff09de13300cd0b19"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a09c1977da551cf6ff09de13300cd0b19">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the base puzzle solver class.  Assumes
+existence of solution state and current puzzle state.
+Args:
+    theSol: The solution board.
+    thePuzzle: The actual board.
+</pre> 
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#aa5a076d2bf3af21bde3e6c758a4b3a7f">Simple</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a88939c35e54e49996f68e04f1833291f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88939c35e54e49996f68e04f1833291f">&#9670;&nbsp;</a></span>setCurrBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setCurrBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Reimplemented in <a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">Simple</a>.</p>
+
+</div>
+</div>
+<a id="ac41924d50ff336544c5d99cd9500cfa3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac41924d50ff336544c5d99cd9500cfa3">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Perform a single puzzle solving action, which move a piece
+to its correct location. Base class is empty and should be
+overloaded.
+
+Args:
+    thePlan: A specific desired action plan.</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae8b515cceb310a575b6c2677ba93ea7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8b515cceb310a575b6c2677ba93ea7e">&#9670;&nbsp;</a></span>current</h2>
+
+<div class="memitem">
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+        </tr>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6788c2131efce60abb1699742c1c9509">&#9670;&nbsp;</a></span>desired</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">desired</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/solver/<a class="el" href="puzzle__solver_2puzzle_2solver_2base_8py.html">base.py</a></li>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
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+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<tr class="memitem:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td></tr>
+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:accb9e3891f1b5e10699e8048d6762923"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#accb9e3891f1b5e10699e8048d6762923">match</a></td></tr>
+<tr class="separator:accb9e3891f1b5e10699e8048d6762923"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#ae1e167b26485ee9a975bf4fb78bc469c">plan</a></td></tr>
+<tr class="separator:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2cf2886cacfc85149e1521b3387ca796"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a></td></tr>
+<tr class="separator:a2cf2886cacfc85149e1521b3387ca796"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html">Base</a></td></tr>
+<tr class="memitem:ae8b515cceb310a575b6c2677ba93ea7e inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#ae8b515cceb310a575b6c2677ba93ea7e">current</a></td></tr>
+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">desired</a></td></tr>
+<tr class="separator:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aa5a076d2bf3af21bde3e6c758a4b3a7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5a076d2bf3af21bde3e6c758a4b3a7f">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Constructor for the simple puzzle solver. Assume existence
+of solution state and current puzzle state, the match is built up by
+the manager.
+
+Args:
+  theSol: The solution board.
+  thePuzzle: The estimated board.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a09c1977da551cf6ff09de13300cd0b19">Base</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a4fc0be821f8a1349b086683f16fcd778"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4fc0be821f8a1349b086683f16fcd778">&#9670;&nbsp;</a></span>planGreedyTSP()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planGreedyTSP </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief      Generate a greedy plan based on TS-like problem.
+The travelling salesman problem is to visit a set of cities in a
+path optimal manner.  This version applies the same idea in a greed
+manner. That involves finding the piece closest to the true
+solution, then placing it.  After that it searches for a piece that
+minimizes to distance to pick and to place (e.g., distance to the
+next piece + distance to its true location).  That piece is added to
+the plan, and the process repeats until all pieces are planned.</pre> 
+</div>
+</div>
+<a id="a655c258270d4220250da3d6b214280ae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a655c258270d4220250da3d6b214280ae">&#9670;&nbsp;</a></span>planNew()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planNew </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Implement Dr. Adan Vela's algorithm.
+
+Returns:
+    plan: The plan list.
+</pre> 
+</div>
+</div>
+<a id="a50a81e9083a1d92f79015083941e58be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a50a81e9083a1d92f79015083941e58be">&#9670;&nbsp;</a></span>planOrdered()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def planOrdered </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>occlusionList</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>STEP_WISE</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Plan is to solve puzzle pieces in order (col-wise).
+
+Args:
+    occlusionList: The occlusion list.
+    STEP_WISE: If disabled, we will put the puzzle piece's rotation &amp; location
+        in a single step.
+    COMPLETE_PLAN:  If enabled, we will create the complete plan instead a single step.
+
+Returns:
+    plan: The plan list.
+</pre> 
+</div>
+</div>
+<a id="a88939c35e54e49996f68e04f1833291f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88939c35e54e49996f68e04f1833291f">&#9670;&nbsp;</a></span>setCurrBoard()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setCurrBoard </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theBoard</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Set up the current board.
+
+Args:
+    theBoard (Board): A board instance.
+</pre> 
+<p>Reimplemented from <a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a88939c35e54e49996f68e04f1833291f">Base</a>.</p>
+
+</div>
+</div>
+<a id="a1e8180dcffe198694d6ce1d4afed753a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e8180dcffe198694d6ce1d4afed753a">&#9670;&nbsp;</a></span>setMatch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMatch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>match</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rotation_match</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the match.
+
+Args:
+  match: The match between the index in the measured board and the solution board.
+  rotation_match: The rotation angle for each piece in the match.
+</pre> 
+</div>
+</div>
+<a id="a4b5c246facf6121a4715ad71171bbf36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4b5c246facf6121a4715ad71171bbf36">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>defaultPlan</em> = <code>'order'</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>occlusionList</em> = <code>[]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>STEP_WISE</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>COMPLETE_PLAN</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>SAVED_PLAN</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Create a plan.
+
+Args:
+    thePlan: A specific desired action plan. We assume it only knows (piece_id, action_type, action).
+    defaultPlan: The default plan strategy.
+    occlusionList: Skip the pieces in the occlusionList.
+    STEP_WISE: Perform STEP_WISE(rotation &amp; movement together) action or not.
+    COMPLETE_PLAN: Create a complete plan or just a single step action.
+    SAVED_PLAN: Use the saved plan (self.plan) or not
+
+Returns:
+    plan: Processed plan list.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae8b515cceb310a575b6c2677ba93ea7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8b515cceb310a575b6c2677ba93ea7e">&#9670;&nbsp;</a></span>current</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">current</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="accb9e3891f1b5e10699e8048d6762923"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#accb9e3891f1b5e10699e8048d6762923">&#9670;&nbsp;</a></span>match</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">match</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae1e167b26485ee9a975bf4fb78bc469c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1e167b26485ee9a975bf4fb78bc469c">&#9670;&nbsp;</a></span>plan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">plan</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2cf2886cacfc85149e1521b3387ca796"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2cf2886cacfc85149e1521b3387ca796">&#9670;&nbsp;</a></span>rotation_match</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rotation_match</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/solver/<a class="el" href="puzzle__solver_2puzzle_2solver_2simple_8py.html">simple.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a50a81e9083a1d92f79015083941e58be">planOrdered</a>(self, occlusionList=[], STEP_WISE=True, COMPLETE_PLAN=False)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a2cf2886cacfc85149e1521b3387ca796">rotation_match</a></td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a88939c35e54e49996f68e04f1833291f">setCurrBoard</a>(self, theBoard)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#a2eccb0eb4e64e5cc74a19c3ca9f22586">setMatch</a>(self, match)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html#a1e8180dcffe198694d6ce1d4afed753a">puzzle::solver::simple::Simple.setMatch</a>(self, match, rotation_match=None)</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1simple_1_1Simple.html">Simple</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html#afb2e9552e7e6cf9d85ea897ed1ca4129">takeTurn</a>(self, thePlan=None, defaultPlan='order')</td><td class="entry"><a class="el" href="classpuzzle_1_1solver_1_1twoAgent_1_1TwoAgent.html">TwoAgent</a></td><td class="entry"></td></tr>
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+<tr class="separator:ae8b515cceb310a575b6c2677ba93ea7e inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1solver_1_1base_1_1Base.html#a6788c2131efce60abb1699742c1c9509">desired</a></td></tr>
+<tr class="separator:a6788c2131efce60abb1699742c1c9509 inherit pub_attribs_classpuzzle_1_1solver_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac9b243262f2da5597509d957ede74cef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b243262f2da5597509d957ede74cef">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePuzzle</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>agent1</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>agent2</em> = <code>None</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Derived from the simple puzzle solver, it also takes in two
+solver build functiond to seed with information.  Defaults
+to simple solvers if none given.
+Args:
+    theSol: The solution board.
+    thePuzzle: The actual board.
+    agent1: The agent 1.
+    agent2: The agent 2.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a2eccb0eb4e64e5cc74a19c3ca9f22586"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2eccb0eb4e64e5cc74a19c3ca9f22586">&#9670;&nbsp;</a></span>setMatch()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def setMatch </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>match</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Set up the match.
+
+Args:
+    match: The match between the id in the measured board and the solution board.
+</pre> 
+</div>
+</div>
+<a id="afb2e9552e7e6cf9d85ea897ed1ca4129"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afb2e9552e7e6cf9d85ea897ed1ca4129">&#9670;&nbsp;</a></span>takeTurn()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def takeTurn </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePlan</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>defaultPlan</em> = <code>'order'</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Args:
+    thePlan: A specific desired action plan.
+    defaultPlan: The default plan strategy.
+
+Returns:
+    plan: The action plan.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab8f69d85bc0da1638e646e6a25b76471"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8f69d85bc0da1638e646e6a25b76471">&#9670;&nbsp;</a></span>agents</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">agents</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af335184c7ff2c682cfbbd357716a8890"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af335184c7ff2c682cfbbd357716a8890">&#9670;&nbsp;</a></span>iMove</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">iMove</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/solver/<a class="el" href="twoAgent_8py.html">twoAgent.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+Public Attributes</h2></td></tr>
+<tr class="memitem:a2090a647eea4ba8be07c28e6d52e97de"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html#a2090a647eea4ba8be07c28e6d52e97de">source</a></td></tr>
+<tr class="separator:a2090a647eea4ba8be07c28e6d52e97de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4a1aadb34aa4414d4e346f2aaf593d0d">&#9670;&nbsp;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>source</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Class constructor.
+
+Args:
+    source: The source class instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae112a20c5bdfc4d16c09cf7214d2b6a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae112a20c5bdfc4d16c09cf7214d2b6a7">&#9670;&nbsp;</a></span>__call__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def __call__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Copy attributes from a source class to a target class.
+See https://stackoverflow.com/a/12014625/5269146.
+
+Args:
+    target: The target class instance.
+
+Returns:
+    target: The updated target class instance.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a2090a647eea4ba8be07c28e6d52e97de">&#9670;&nbsp;</a></span>source</h2>
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+          <td class="memname">source</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>/home/mary/python/puzzle_solver/puzzle/utils/<a class="el" href="dataProcessing_8py.html">dataProcessing.py</a></li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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diff --git a/docs/inherit_graph_91.map b/docs/inherit_graph_91.map
new file mode 100644
index 00000000..118350c3
--- /dev/null
+++ b/docs/inherit_graph_91.map
@@ -0,0 +1,3 @@
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diff --git a/docs/inherit_graph_91.md5 b/docs/inherit_graph_91.md5
new file mode 100644
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+<title>IVALab Python Libraries: Surveillance</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+<div class="PageDoc"><div class="header">
+  <div class="headertitle">
+<div class="title"><a class="el" href="namespaceSurveillance.html">Surveillance</a> </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>The surveillance system for SuperviseIt project. The objective of the surveillance system is to keep track of the puzzle player's hand, the robotic arm, and the puzzle workspace. Segmentation of the robotic arm is not for tracking purposes, but for ignoring that area and knowing that it visually occludes the puzzle workspace. The robotic arm is under control, thus its state is known. In principle, the surveillance system collects the data generated by a perceiver and farms it off for additional processing. It's design can be monolithic, in which case all of the code is contained within the surveillance class. This case is most compatible with a traditionally coded and executed system. It can also be federated, in which case the manages the flow of information to asynchronously run processes. Federated implementations are more compatible with ROS-type implementation that coordinate information flow and processing through the use of topics.</p>
+<p>The modules associated to this surveillance system are:</p>
+<ul>
+<li>Layered segmentation system<ul>
+<li>Extracts puzzle player's hand.</li>
+<li>Extracts robot arm.</li>
+<li>Extracts puzzle pieces on the workspace.</li>
+<li>Everything else that remains is the workspace background layer.</li>
+</ul>
+</li>
+<li>Hand tracker and action parsing<ul>
+<li>Returns action-oriented track point for the hand.</li>
+<li>Processing track point signal to assign action labels.</li>
+</ul>
+</li>
+<li>Robot removal and action state<ul>
+<li>Extraction of robot region from processing/parsing.</li>
+<li>Take given robot commands and converts to action label as needed.</li>
+</ul>
+</li>
+<li>Activity analysis<ul>
+<li>Post-process hand, robot, and puzzle action states to infer activity.</li>
+<li>This is activty of the player (hand) and impact on puzzle.</li>
+<li>Includes a progress monitor for the puzzle (obtained from solver).</li>
+</ul>
+</li>
+<li>Puzzle board and solver<ul>
+<li>Sub-system that keeps track of the puzzle pieces and their locations. Maintains status of which are visible and which are not visible (in principle, these would be two distinct layers, but might be partitioned using state flags instead of disjoint lists.</li>
+<li>A solution board can exist for the puzzle pieces. In this case, there is a data association module connecting puzzle pieces to their intended solution state.</li>
+<li>Can contain a planning module that generates solution actions for completing the puzzle from an initial incomplete state.</li>
+</ul>
+</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md42"></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/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>
+<li><a href="https://github.com/ivapylibs/improcessor">improcessor</a></li>
+<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 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>
+<div class="line">pip3 install -e Surveillance/</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md43"></a>
+Usage</h1>
+<h2><a class="anchor" id="autotoc_md44"></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>
+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>
+TODOs:</h1>
+<p>04/22/2022 Meeting with the Dr. Adan Vela:</p>
+<ul>
+<li>[x] Verify that the recording <code>ActualTestRecording.bag</code> is good.</li>
+<li>[x] Shutdown the visualization of the calibration process when start the recording from the exist calibration file.</li>
+<li>[x] Add another script that convert the rosbag file to the video file for the verification of the recording process. </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- 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
+</small></address>
+</body>
+</html>
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
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>IVALab Python Libraries: Recorder instructions</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+  <div class="headertitle">
+<div class="title">Recorder instructions </div>  </div>
+</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>
+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>
+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>
+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>
+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>
+</div><!-- fragment --><p>Where the <code>--save_dir</code> accepts the destination folder to save the recorded data. If omitted, the default will be <code>./</code>(the same folder as the recorder script.)</p>
+<p>The recorder will save a bag file with the date appended: <code>data_{RECORDING_DATE_AND_TIME}.bag</code> . <b>Please use <code>ls</code> to check the data name, and compress it using the following commands (with the <code>{RECORDING_DATE_AND_TIME}</code> replaced by the actual one</b>. Without compression the data size will be large:</p>
+<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>
+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>
+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>
+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>
+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>
+</div><!-- fragment --><p>It will save the video in the save folder as the rosbag, with the same file name, but with a different extension. For the above example, the saved video will be as <code>PATH/TO/ROSBAG/NAME.avi</code>.</p>
+<p>The script will by default "watch" the recording simultaneously when converting to the video. To disable the playback, use the <code>--no_vis</code> option:</p>
+<div class="fragment"><div class="line">python rosbag_to_avi.py PATH/TO/ROSBAG/NAME.bag --no_vis</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- 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"/>
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+</html>
diff --git a/docs/md__home_mary_python_puzzle_solver_README.html b/docs/md__home_mary_python_puzzle_solver_README.html
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+++ b/docs/md__home_mary_python_puzzle_solver_README.html
@@ -0,0 +1,108 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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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: puzzle_solver</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>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+</div><!-- top -->
+<div class="PageDoc"><div class="header">
+  <div class="headertitle">
+<div class="title">puzzle_solver </div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Shape-based puzzle solving algorithms, including shape matching and rotation matching</p>
+<h1><a class="anchor" id="autotoc_md39"></a>
+Install</h1>
+<div class="fragment"><div class="line">git clone git@github.com:ivapylibs/puzzle_solver.git</div>
+<div class="line">pip3 install -e puzzle_solver/</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>
+<p>This repo is also backed up by several other libraries from our group:</p>
+<div class="fragment"><div class="line">git clone git@github.com:ivapylibs/trackpointer.git</div>
+<div class="line">pip3 install -e trackpointer/</div>
+<div class="line">git clone git@github.com:ivapylibs/detector.git</div>
+<div class="line">pip3 install -e detector/</div>
+<div class="line">git clone git@github.com:ivapylibs/improcessor.git</div>
+<div class="line">pip3 install -e improcessor/</div>
+<div class="line">git clone git@github.com:ivapylibs/Lie.git</div>
+<div class="line">pip3 install -e Lie/</div>
+<div class="line">git clone git@github.com:ADCLab/puzzleSolvers.git</div>
+<div class="line">pip3 install -e puzzleSolvers/</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md40"></a>
+Dependencies</h1>
+<p>Requires the installation of the following python packages:</p>
+<ul>
+<li><code>numpy</code></li>
+<li><code>matplotlib</code></li>
+<li><code>scipy</code></li>
+<li><code>scikit-learn</code></li>
+<li><code>scikit-image</code></li>
+<li><code>opencv-contrib-python</code></li>
+<li><code>similaritymeasures</code></li>
+<li><code>pygame</code> </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- 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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+</small></address>
+</body>
+</html>
diff --git a/docs/moments_8py.html b/docs/moments_8py.html
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+++ b/docs/moments_8py.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+@ date                  08/19/2021
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+<tr class="separator:aad9575350ee1998a136d232dbb870450"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98d9bff4e9bedeb77abd42834320502c"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">rosbag_path</a> = &quot;data.bag&quot;</td></tr>
+<tr class="separator:a98d9bff4e9bedeb77abd42834320502c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f41af2452de32b9ffeea69e6f2397b7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a5f41af2452de32b9ffeea69e6f2397b7">rosbag_proc</a> = subprocess.Popen(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">command</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a>=True)</td></tr>
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+<tr class="separator:a6050e334344d301b985665eb2622b0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a></td></tr>
+<tr class="separator:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief:     The rosbag data recorder records the calibration data and test data into a single rosbag.
+        It won't run the system on the test data
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           02/24/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a6a263db19510916490e528e56eb08ee7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a263db19510916490e528e56eb08ee7">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_data_recorder.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a8187411843a6284ffb964ef3fb9fcab3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8187411843a6284ffb964ef3fb9fcab3">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">args</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a098b3e2b76b290dc086dbf368e3f4be5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a098b3e2b76b290dc086dbf368e3f4be5">&#9670;&nbsp;</a></span>bag_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bag_path = os.path.join(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#aad9575350ee1998a136d232dbb870450">fDir</a>, args.rosbag_name)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9bda50c2ecb07d8a4e9f694c60e1120f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bda50c2ecb07d8a4e9f694c60e1120f">&#9670;&nbsp;</a></span>cfg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cfg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4c9ef422180cc13bda2c623c7b9d43e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4c9ef422180cc13bda2c623c7b9d43e5">&#9670;&nbsp;</a></span>command</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string command = &quot;rosbag record -a --lz4 -o {}&quot;.format(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a98d9bff4e9bedeb77abd42834320502c">rosbag_path</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aad9575350ee1998a136d232dbb870450"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad9575350ee1998a136d232dbb870450">&#9670;&nbsp;</a></span>fDir</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string fDir = &quot;./&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a98d9bff4e9bedeb77abd42834320502c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98d9bff4e9bedeb77abd42834320502c">&#9670;&nbsp;</a></span>rosbag_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_path = &quot;data.bag&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f41af2452de32b9ffeea69e6f2397b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f41af2452de32b9ffeea69e6f2397b7">&#9670;&nbsp;</a></span>rosbag_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_proc = subprocess.Popen(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#a4c9ef422180cc13bda2c623c7b9d43e5">command</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__data__recorder.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a>=True)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6050e334344d301b985665eb2622b0c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6050e334344d301b985665eb2622b0c5">&#9670;&nbsp;</a></span>roscore_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">roscore_proc = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3d4fbb9cf8a069dc079bb329a7e58b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3d4fbb9cf8a069dc079bb329a7e58b9">&#9670;&nbsp;</a></span>shell</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">shell</td>
+        </tr>
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+</div><div class="memdoc">
+
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+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html b/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Surveillance.deployment.ROS.rosbag_replay Namespace 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>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html">rosbag_replay</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_replay 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:ae44248362ba50db844223986ec83ac25"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">get_args</a> ()</td></tr>
+<tr class="separator:ae44248362ba50db844223986ec83ac25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab8cdf5817ce48453794710fd19e3cc76"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ab8cdf5817ce48453794710fd19e3cc76">main</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">get_args</a>()</td></tr>
+<tr class="separator:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief:         Replays Surveillance recording rosbag file, video portion only. 
+
+@author         Yiye Chen.          yychen2019@gatech.edu
+@author         Patricio Vela.      pvela@gatech.edu
+@date           07/01/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="ae44248362ba50db844223986ec83ac25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae44248362ba50db844223986ec83ac25">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_replay.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab8cdf5817ce48453794710fd19e3cc76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab8cdf5817ce48453794710fd19e3cc76">&#9670;&nbsp;</a></span>main()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_replay.main </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a28eaecb63bba79eae4f45a526af2c2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def args = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__replay.html#ae44248362ba50db844223986ec83ac25">get_args</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
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+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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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html">rosbag_runner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_runner Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html">ImageListener</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
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+<tr class="separator:a595c24f79cb24129ea70535a14ea78fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac36673b9485bfa1e5b330c3e4879191b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac36673b9485bfa1e5b330c3e4879191b">resave_to_folder</a> (target)</td></tr>
+<tr class="separator:ac36673b9485bfa1e5b330c3e4879191b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+Variables</h2></td></tr>
+<tr class="memitem:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a595c24f79cb24129ea70535a14ea78fd">get_args</a>()</td></tr>
+<tr class="separator:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a91cf416c947b10c19071657221dc83d5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a91cf416c947b10c19071657221dc83d5">bag</a> = rosbag.Bag(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ade4c4b1a66f0f51dec2ec9bfa5af748a">rosbag_file</a>)</td></tr>
+<tr class="separator:a91cf416c947b10c19071657221dc83d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae38f754ee124747e5a6691e1ae03e1b2"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae38f754ee124747e5a6691e1ae03e1b2">call_back_id</a> = 0</td></tr>
+<tr class="separator:ae38f754ee124747e5a6691e1ae03e1b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9e0992eae3950adccaf4847fbff4231d"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a9e0992eae3950adccaf4847fbff4231d">command</a></td></tr>
+<tr class="separator:a9e0992eae3950adccaf4847fbff4231d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f0dca78b998ba41b1799a11f1287c87"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4f0dca78b998ba41b1799a11f1287c87">display</a></td></tr>
+<tr class="separator:a4f0dca78b998ba41b1799a11f1287c87"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac389d2a7c41bdb1f7da93bb1e86ff1a5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac389d2a7c41bdb1f7da93bb1e86ff1a5">force_restart</a></td></tr>
+<tr class="memdesc:ac389d2a7c41bdb1f7da93bb1e86ff1a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Local configuration for debug.  <a href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ac389d2a7c41bdb1f7da93bb1e86ff1a5">More...</a><br /></td></tr>
+<tr class="separator:ac389d2a7c41bdb1f7da93bb1e86ff1a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4f88be06550a90b3851570a4f5d4d556"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4f88be06550a90b3851570a4f5d4d556">info_dict</a></td></tr>
+<tr class="separator:a4f88be06550a90b3851570a4f5d4d556"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e027ffa043575312851d123228ae8eb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6e027ffa043575312851d123228ae8eb">listener</a> = <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html">ImageListener</a>(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:a6e027ffa043575312851d123228ae8eb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af1b662fe6ae53fbcd5a505235805d788"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#af1b662fe6ae53fbcd5a505235805d788">lock</a> = threading.Lock()</td></tr>
+<tr class="separator:af1b662fe6ae53fbcd5a505235805d788"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6cd45efb22043ced690e818f515f1a7d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6cd45efb22043ced690e818f515f1a7d">puzzle_solver</a></td></tr>
+<tr class="separator:a6cd45efb22043ced690e818f515f1a7d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d3ddc8d166cd01ec2e141d960dc9397"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4d3ddc8d166cd01ec2e141d960dc9397">puzzle_solver_mode</a></td></tr>
+<tr class="separator:a4d3ddc8d166cd01ec2e141d960dc9397"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aeaa069f28268f0faade3acdab2b520cd"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#aeaa069f28268f0faade3acdab2b520cd">read_activity</a></td></tr>
+<tr class="separator:aeaa069f28268f0faade3acdab2b520cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ade4c4b1a66f0f51dec2ec9bfa5af748a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ade4c4b1a66f0f51dec2ec9bfa5af748a">rosbag_file</a> = os.path.join(args.fDir, args.rosbag_name)</td></tr>
+<tr class="separator:ade4c4b1a66f0f51dec2ec9bfa5af748a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d401f526bfe10afee540d2a4c32101b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a1d401f526bfe10afee540d2a4c32101b">rosbag_name</a></td></tr>
+<tr class="separator:a1d401f526bfe10afee540d2a4c32101b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6050e334344d301b985665eb2622b0c5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a6050e334344d301b985665eb2622b0c5">roscore_proc</a> = None</td></tr>
+<tr class="separator:a6050e334344d301b985665eb2622b0c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae3d4fbb9cf8a069dc079bb329a7e58b9">shell</a></td></tr>
+<tr class="separator:ae3d4fbb9cf8a069dc079bb329a7e58b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aec9631c3f0aed2255eac10a36ed957f8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#aec9631c3f0aed2255eac10a36ed957f8">survelliance_system</a></td></tr>
+<tr class="separator:aec9631c3f0aed2255eac10a36ed957f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a26273aaa2b70fd876810a0a53b8c7108"><td class="memItemLeft" align="right" valign="top">list&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a26273aaa2b70fd876810a0a53b8c7108">target_list</a> = ['bTrack_SolID']</td></tr>
+<tr class="separator:a26273aaa2b70fd876810a0a53b8c7108"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17ef2ddb9aa195e6d2d6fcdc5d5ad797"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a17ef2ddb9aa195e6d2d6fcdc5d5ad797">test_activity_topic</a> = &quot;/test_activity&quot;</td></tr>
+<tr class="separator:a17ef2ddb9aa195e6d2d6fcdc5d5ad797"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab857d495188047a465cac9c75b9b5cea"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ab857d495188047a465cac9c75b9b5cea">test_dep_topic</a> = &quot;/test_depth&quot;</td></tr>
+<tr class="separator:ab857d495188047a465cac9c75b9b5cea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4112567f92890b58522a60155e2bd257"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a4112567f92890b58522a60155e2bd257">test_rgb_topic</a> = &quot;/test_rgb&quot;</td></tr>
+<tr class="separator:a4112567f92890b58522a60155e2bd257"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad520fe067081cd5871a78fbd5906b77a"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ad520fe067081cd5871a78fbd5906b77a">timestamp_beginning</a> = None</td></tr>
+<tr class="separator:ad520fe067081cd5871a78fbd5906b77a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3332d321c6c5000fc58ad3da7168ada4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a3332d321c6c5000fc58ad3da7168ada4">timestamp_ending</a> = None</td></tr>
+<tr class="separator:a3332d321c6c5000fc58ad3da7168ada4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief          The test script that run the system on a rosbag file,
+                include building the system and test the system.
+
+@author         Yiye Chen,          yychen2019@gatech.edu
+                Yunzhi Lin,         yunzhi.lin@gatech.edu
+@date           02/25/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a595c24f79cb24129ea70535a14ea78fd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a595c24f79cb24129ea70535a14ea78fd">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_runner.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac36673b9485bfa1e5b330c3e4879191b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac36673b9485bfa1e5b330c3e4879191b">&#9670;&nbsp;</a></span>resave_to_folder()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_runner.resave_to_folder </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>target</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a28eaecb63bba79eae4f45a526af2c2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def args = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a595c24f79cb24129ea70535a14ea78fd">get_args</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a91cf416c947b10c19071657221dc83d5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91cf416c947b10c19071657221dc83d5">&#9670;&nbsp;</a></span>bag</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bag = rosbag.Bag(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ade4c4b1a66f0f51dec2ec9bfa5af748a">rosbag_file</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae38f754ee124747e5a6691e1ae03e1b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae38f754ee124747e5a6691e1ae03e1b2">&#9670;&nbsp;</a></span>call_back_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int call_back_id = 0</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9e0992eae3950adccaf4847fbff4231d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e0992eae3950adccaf4847fbff4231d">&#9670;&nbsp;</a></span>command</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">command</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  <span class="stringliteral">&quot;rosbag play {} -d 2 -r 1 -s 15 -q --topic {} {} {}&quot;</span>.format(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;           rosbag_file, test_rgb_topic, test_dep_topic, test_activity_topic)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a4f0dca78b998ba41b1799a11f1287c87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f0dca78b998ba41b1799a11f1287c87">&#9670;&nbsp;</a></span>display</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">display</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac389d2a7c41bdb1f7da93bb1e86ff1a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac389d2a7c41bdb1f7da93bb1e86ff1a5">&#9670;&nbsp;</a></span>force_restart</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">force_restart</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Local configuration for debug. </p>
+
+</div>
+</div>
+<a id="a4f88be06550a90b3851570a4f5d4d556"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f88be06550a90b3851570a4f5d4d556">&#9670;&nbsp;</a></span>info_dict</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">info_dict</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  yaml.safe_load(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;            subprocess.Popen([<span class="stringliteral">&#39;rosbag&#39;</span>, <span class="stringliteral">&#39;info&#39;</span>, <span class="stringliteral">&#39;--yaml&#39;</span>, rosbag_file], stdout=subprocess.PIPE).communicate()[0])</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a6e027ffa043575312851d123228ae8eb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e027ffa043575312851d123228ae8eb">&#9670;&nbsp;</a></span>listener</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">listener = <a class="el" href="classSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner_1_1ImageListener.html">ImageListener</a>(<a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af1b662fe6ae53fbcd5a505235805d788"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af1b662fe6ae53fbcd5a505235805d788">&#9670;&nbsp;</a></span>lock</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">lock = threading.Lock()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6cd45efb22043ced690e818f515f1a7d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6cd45efb22043ced690e818f515f1a7d">&#9670;&nbsp;</a></span>puzzle_solver</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_solver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4d3ddc8d166cd01ec2e141d960dc9397"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d3ddc8d166cd01ec2e141d960dc9397">&#9670;&nbsp;</a></span>puzzle_solver_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">puzzle_solver_mode</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aeaa069f28268f0faade3acdab2b520cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aeaa069f28268f0faade3acdab2b520cd">&#9670;&nbsp;</a></span>read_activity</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">read_activity</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ade4c4b1a66f0f51dec2ec9bfa5af748a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ade4c4b1a66f0f51dec2ec9bfa5af748a">&#9670;&nbsp;</a></span>rosbag_file</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_file = os.path.join(args.fDir, args.rosbag_name)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1d401f526bfe10afee540d2a4c32101b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d401f526bfe10afee540d2a4c32101b">&#9670;&nbsp;</a></span>rosbag_name</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">rosbag_name</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6050e334344d301b985665eb2622b0c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6050e334344d301b985665eb2622b0c5">&#9670;&nbsp;</a></span>roscore_proc</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">roscore_proc = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3d4fbb9cf8a069dc079bb329a7e58b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3d4fbb9cf8a069dc079bb329a7e58b9">&#9670;&nbsp;</a></span>shell</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">shell</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aec9631c3f0aed2255eac10a36ed957f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aec9631c3f0aed2255eac10a36ed957f8">&#9670;&nbsp;</a></span>survelliance_system</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">survelliance_system</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a26273aaa2b70fd876810a0a53b8c7108"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26273aaa2b70fd876810a0a53b8c7108">&#9670;&nbsp;</a></span>target_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">list target_list = ['bTrack_SolID']</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a17ef2ddb9aa195e6d2d6fcdc5d5ad797"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17ef2ddb9aa195e6d2d6fcdc5d5ad797">&#9670;&nbsp;</a></span>test_activity_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_activity_topic = &quot;/test_activity&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab857d495188047a465cac9c75b9b5cea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab857d495188047a465cac9c75b9b5cea">&#9670;&nbsp;</a></span>test_dep_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_dep_topic = &quot;/test_depth&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4112567f92890b58522a60155e2bd257"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4112567f92890b58522a60155e2bd257">&#9670;&nbsp;</a></span>test_rgb_topic</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string test_rgb_topic = &quot;/test_rgb&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad520fe067081cd5871a78fbd5906b77a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad520fe067081cd5871a78fbd5906b77a">&#9670;&nbsp;</a></span>timestamp_beginning</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">timestamp_beginning = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3332d321c6c5000fc58ad3da7168ada4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3332d321c6c5000fc58ad3da7168ada4">&#9670;&nbsp;</a></span>timestamp_ending</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">timestamp_ending = None</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html b/docs/namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html
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+<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: Surveillance.deployment.ROS.rosbag_to_avi Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+        name="MSearchResults" id="MSearchResults">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS.html">ROS</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html">rosbag_to_avi</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.ROS.rosbag_to_avi 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:aa6e8d89aceb7f0ed6a0a4212e1b86523"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a> ()</td></tr>
+<tr class="separator:aa6e8d89aceb7f0ed6a0a4212e1b86523"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4c0b53f23d40ff99d05e838e15af5d6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#ac4c0b53f23d40ff99d05e838e15af5d6">main</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a207668774f8bf54cd204eac1f32805d7">vid_path</a>, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:ac4c0b53f23d40ff99d05e838e15af5d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9e5565f5afd1cef84f0334a8a7c9654"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a> (rosbag_path, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:af9e5565f5afd1cef84f0334a8a7c9654"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a>()</td></tr>
+<tr class="separator:a28eaecb63bba79eae4f45a526af2c2b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a207668774f8bf54cd204eac1f32805d7"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a207668774f8bf54cd204eac1f32805d7">vid_path</a> = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a>(args.rosbag_name, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td></tr>
+<tr class="separator:a207668774f8bf54cd204eac1f32805d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @brief:     A script that convert the Surveillance recording rosbag file to the avi video file.
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           04/27/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="aa6e8d89aceb7f0ed6a0a4212e1b86523"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa6e8d89aceb7f0ed6a0a4212e1b86523">&#9670;&nbsp;</a></span>get_args()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.get_args </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac4c0b53f23d40ff99d05e838e15af5d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4c0b53f23d40ff99d05e838e15af5d6">&#9670;&nbsp;</a></span>main()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.main </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>vid_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af9e5565f5afd1cef84f0334a8a7c9654"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9e5565f5afd1cef84f0334a8a7c9654">&#9670;&nbsp;</a></span>parse_vid_path()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.ROS.rosbag_to_avi.parse_vid_path </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rosbag_path</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>args</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a28eaecb63bba79eae4f45a526af2c2b6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28eaecb63bba79eae4f45a526af2c2b6">&#9670;&nbsp;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def args = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#aa6e8d89aceb7f0ed6a0a4212e1b86523">get_args</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a207668774f8bf54cd204eac1f32805d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a207668774f8bf54cd204eac1f32805d7">&#9670;&nbsp;</a></span>vid_path</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def vid_path = <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#af9e5565f5afd1cef84f0334a8a7c9654">parse_vid_path</a>(args.rosbag_name, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__to__avi.html#a28eaecb63bba79eae4f45a526af2c2b6">args</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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
+</small></address>
+</body>
+</html>
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+<title>IVALab Python Libraries: Surveillance.deployment.activity_record Namespace Reference</title>
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+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.activity_record Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1deployment_1_1activity__record_1_1ActDecoder.html">ActDecoder</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:acfd4b8d50483eef27cb5eeee180e5aa4"><td class="memItemLeft" align="right" valign="top">dictionary&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1activity__record.html#acfd4b8d50483eef27cb5eeee180e5aa4">ACT_CODEBOOK</a></td></tr>
+<tr class="separator:acfd4b8d50483eef27cb5eeee180e5aa4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="acfd4b8d50483eef27cb5eeee180e5aa4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfd4b8d50483eef27cb5eeee180e5aa4">&#9670;&nbsp;</a></span>ACT_CODEBOOK</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">dictionary ACT_CODEBOOK</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  {</div>
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+</div><!-- fragment -->
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+<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
+</small></address>
+</body>
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diff --git a/docs/namespaceSurveillance_1_1deployment_1_1default__params.html b/docs/namespaceSurveillance_1_1deployment_1_1default__params.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Surveillance.deployment.default_params Namespace 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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html">default_params</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.deployment.default_params Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a63d31866b1bfc6204aaac56b432e5f6f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">BGPARMAS</a></td></tr>
+<tr class="separator:a63d31866b1bfc6204aaac56b432e5f6f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af491a781910dcde032bc4b44634083e3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#af491a781910dcde032bc4b44634083e3">HPARAMS</a></td></tr>
+<tr class="separator:af491a781910dcde032bc4b44634083e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a065b6f148a7048203a603b059e3be42d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a065b6f148a7048203a603b059e3be42d">HTRACKER</a></td></tr>
+<tr class="separator:a065b6f148a7048203a603b059e3be42d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2ff12ba84b360bbe1553c9070a5aa517"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a2ff12ba84b360bbe1553c9070a5aa517">kernel</a> = np.ones((15, 15), np.uint8)</td></tr>
+<tr class="separator:a2ff12ba84b360bbe1553c9070a5aa517"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ab2aa51aab5c1699a0158092e2486f8"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a1ab2aa51aab5c1699a0158092e2486f8">mask_proc_puzzle_seg</a></td></tr>
+<tr class="separator:a1ab2aa51aab5c1699a0158092e2486f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adda7eae0fc1a425e6e2c02f56bdbdb7f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#adda7eae0fc1a425e6e2c02f56bdbdb7f">PPARAMS</a></td></tr>
+<tr class="separator:adda7eae0fc1a425e6e2c02f56bdbdb7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3585e00a01b986a8505a81ad25dd05d1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a3585e00a01b986a8505a81ad25dd05d1">PTRACKER</a></td></tr>
+<tr class="separator:a3585e00a01b986a8505a81ad25dd05d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a154064f2dfbf7076428872bc3670f28c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a154064f2dfbf7076428872bc3670f28c">ROBPARAMS</a> = Robot_Seg.Params()</td></tr>
+<tr class="separator:a154064f2dfbf7076428872bc3670f28c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">    @ brief         The default parameters for the Surveillance System, including the settings and the
+    post-processing methods
+
+    @author:        Yiye Chen,          yychen2019@gatech.edu
+    @date:          02/26/2022</pre> </div><h2 class="groupheader">Variable Documentation</h2>
+<a id="a63d31866b1bfc6204aaac56b432e5f6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63d31866b1bfc6204aaac56b432e5f6f">&#9670;&nbsp;</a></span>BGPARMAS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">BGPARMAS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Tabletop_Seg.Params_GMM(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    history=300,</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    NMixtures=3,</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    varThreshold=30.,</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;    detectShadows=<span class="keyword">True</span>,</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;    ShadowThreshold=0.5,</div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: mask</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="af491a781910dcde032bc4b44634083e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af491a781910dcde032bc4b44634083e3">&#9670;&nbsp;</a></span>HPARAMS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">HPARAMS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Human_Seg.Params(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    det_th=8,</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: \</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;        cv2.dilate(</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;            mask.astype(np.uint8),</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;            np.ones((10, 10), dtype=np.uint8),</div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;            1</div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;        ).astype(bool)</div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a065b6f148a7048203a603b059e3be42d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a065b6f148a7048203a603b059e3be42d">&#9670;&nbsp;</a></span>HTRACKER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">HTRACKER</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  centroid.centroid(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    params=centroid.Params(</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        plotStyle=<span class="stringliteral">&quot;bo&quot;</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    )</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a2ff12ba84b360bbe1553c9070a5aa517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2ff12ba84b360bbe1553c9070a5aa517">&#9670;&nbsp;</a></span>kernel</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">kernel = np.ones((15, 15), np.uint8)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1ab2aa51aab5c1699a0158092e2486f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ab2aa51aab5c1699a0158092e2486f8">&#9670;&nbsp;</a></span>mask_proc_puzzle_seg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">mask_proc_puzzle_seg</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  maskproc(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    maskproc.opening, (kernel,),</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;    maskproc.closing, (kernel,),</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="adda7eae0fc1a425e6e2c02f56bdbdb7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adda7eae0fc1a425e6e2c02f56bdbdb7f">&#9670;&nbsp;</a></span>PPARAMS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PPARAMS</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  Puzzle_Seg.Params_Residual(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    postprocessor=<span class="keyword">lambda</span> mask: \</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        mask_proc_puzzle_seg.apply(mask.astype(bool))</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a3585e00a01b986a8505a81ad25dd05d1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3585e00a01b986a8505a81ad25dd05d1">&#9670;&nbsp;</a></span>PTRACKER</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">PTRACKER</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  mCentroid.centroidMulti(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;    params=mCentroid.Params(</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        plotStyle=<span class="stringliteral">&quot;rx&quot;</span></div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;    )</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;)</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a154064f2dfbf7076428872bc3670f28c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a154064f2dfbf7076428872bc3670f28c">&#9670;&nbsp;</a></span>ROBPARAMS</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
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+        </tr>
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+
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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+</body>
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+<title>IVALab Python Libraries: Surveillance.deployment.utils Namespace 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>
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+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment.html">deployment</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html">utils</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">Surveillance.deployment.utils 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:a3e701182e90594cf4eee1e4ff70cc8d0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a3e701182e90594cf4eee1e4ff70cc8d0">calc_closest_factors</a> (int c)</td></tr>
+<tr class="separator:a3e701182e90594cf4eee1e4ff70cc8d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:afc9968a3f8384181cedad1bab81c33d6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#afc9968a3f8384181cedad1bab81c33d6">depth_scaled</a> (depth)</td></tr>
+<tr class="separator:afc9968a3f8384181cedad1bab81c33d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a552fca8cd73d99ee69cdbc66a51b6668"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a552fca8cd73d99ee69cdbc66a51b6668">depth_to_before_scale</a> (depth, scale, dtype)</td></tr>
+<tr class="separator:a552fca8cd73d99ee69cdbc66a51b6668"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a641191061a8f89e350e17520f80af81c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a641191061a8f89e350e17520f80af81c">display_option_convert</a> (code)</td></tr>
+<tr class="separator:a641191061a8f89e350e17520f80af81c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5161058f877b5d8268948cf2c33610fb"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a5161058f877b5d8268948cf2c33610fb">isBinary</a> (num)</td></tr>
+<tr class="separator:a5161058f877b5d8268948cf2c33610fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7cc84244235fda459bb76c5ae7edc192"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a7cc84244235fda459bb76c5ae7edc192">NONROI_FUN</a> (H, W, top_ratio=0.2, down_ratio=0.1)</td></tr>
+<tr class="separator:a7cc84244235fda459bb76c5ae7edc192"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4aedbd1142270a12b2d719e0d05f8240"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a4aedbd1142270a12b2d719e0d05f8240">PREPROCESS_DEPTH</a> (depth)</td></tr>
+<tr class="separator:a4aedbd1142270a12b2d719e0d05f8240"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61709d75601089a00afe3187785ea6e5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a61709d75601089a00afe3187785ea6e5">PREPROCESS_RGB</a> (rgb)</td></tr>
+<tr class="separator:a61709d75601089a00afe3187785ea6e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8f7450eba4afc02e018b58553d9dc863"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1deployment_1_1utils.html#a8f7450eba4afc02e018b58553d9dc863">terminate_process_and_children</a> (p)</td></tr>
+<tr class="separator:a8f7450eba4afc02e018b58553d9dc863"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a3e701182e90594cf4eee1e4ff70cc8d0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3e701182e90594cf4eee1e4ff70cc8d0">&#9670;&nbsp;</a></span>calc_closest_factors()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.calc_closest_factors </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>c</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Calculate the closest two factors of c.
+https://gist.github.com/iansan5653/1e306da9688d85934385b266e74f153a
+
+Args:
+    c: The input integer.
+
+Returns:
+  [int, int]: The two factors of c that are closest; in other words, the
+    closest two integers for which a*b=c. If c is a perfect square, the
+    result will be [sqrt(c), sqrt(c)]; if c is a prime number, the result
+    will be [1, c]. The first number will always be the smallest, if they
+    are not equal.
+</pre> 
+</div>
+</div>
+<a id="a70539f353d560cfc7522a6bf301e2596"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a70539f353d560cfc7522a6bf301e2596">&#9670;&nbsp;</a></span>decimalToBinary()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.decimalToBinary </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>n</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert decimal to binary number.
+
+Args:
+    n: input
+
+Returns:</pre> 
+</div>
+</div>
+<a id="afc9968a3f8384181cedad1bab81c33d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afc9968a3f8384181cedad1bab81c33d6">&#9670;&nbsp;</a></span>depth_scaled()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.depth_scaled </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Return True if the depth is a scaled float data, else False</pre> 
+</div>
+</div>
+<a id="a552fca8cd73d99ee69cdbc66a51b6668"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a552fca8cd73d99ee69cdbc66a51b6668">&#9670;&nbsp;</a></span>depth_to_before_scale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.depth_to_before_scale </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scale</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dtype</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a641191061a8f89e350e17520f80af81c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a641191061a8f89e350e17520f80af81c">&#9670;&nbsp;</a></span>display_option_convert()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.display_option_convert </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>code</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Convert the input code into the designed format.
+
+Args:
+    code: The input display option.
+
+Returns:
+    bool_list: a code list of True or False.
+</pre> 
+</div>
+</div>
+<a id="a5161058f877b5d8268948cf2c33610fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5161058f877b5d8268948cf2c33610fb">&#9670;&nbsp;</a></span>isBinary()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.isBinary </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Check if the input is binary or not.
+
+Args:
+    num: The input number
+
+Returns:
+    Whether the input is binary or not.
+</pre> 
+</div>
+</div>
+<a id="a7cc84244235fda459bb76c5ae7edc192"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7cc84244235fda459bb76c5ae7edc192">&#9670;&nbsp;</a></span>NONROI_FUN()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.NONROI_FUN </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>H</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>W</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>top_ratio</em> = <code>0.2</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>down_ratio</em> = <code>0.1</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4aedbd1142270a12b2d719e0d05f8240"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4aedbd1142270a12b2d719e0d05f8240">&#9670;&nbsp;</a></span>PREPROCESS_DEPTH()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.PREPROCESS_DEPTH </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Todo: Not done yet. Still in development.
+</pre> 
+</div>
+</div>
+<a id="a61709d75601089a00afe3187785ea6e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61709d75601089a00afe3187785ea6e5">&#9670;&nbsp;</a></span>PREPROCESS_RGB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.PREPROCESS_RGB </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rgb</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8f7450eba4afc02e018b58553d9dc863"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8f7450eba4afc02e018b58553d9dc863">&#9670;&nbsp;</a></span>terminate_process_and_children()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.deployment.utils.terminate_process_and_children </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespaceSurveillance_1_1layers.html b/docs/namespaceSurveillance_1_1layers.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: Surveillance.layers Namespace 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 id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespaceSurveillance.html">Surveillance</a></li><li class="navelem"><a class="el" href="namespaceSurveillance_1_1layers.html">layers</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.layers Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+
+@brief              The base class for the layer segmentor in the 
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+
+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
+
+ ============================== base ===============================
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+
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+@brief              The base class for the foreground layer segmentor in the 
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+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
+
+ ============================== base ===============================
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+  <div class="summary">
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+<div class="title">Surveillance.layers.base_fg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1base__fg_1_1Params.html">Params</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment"> ============================== base ===============================
+
+@brief              The base class for the foreground layer segmentor in the 
+                    layered perception approach
+
+@author:    Yiye Chen       yychen2019@gatech.edu
+@date:      07/29/2021
+
+ ============================== base ===============================
+</pre> </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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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1human__seg_1_1Params.html">Params</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+</div><div class="memdoc">
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+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
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+<div class="title">Surveillance.layers.puzzle_seg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== puzzle_seg ===================================
+
+    @brief          The puzzle segmenters that aims to extract the puzzle layer
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           09/21/2021
+
+===================================== puzzle_seg ===================================
+</pre> </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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+<div class="contents">
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+Classes</h2></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange.html">robot_inRange</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classSurveillance_1_1layers_1_1robot__seg_1_1robot__inRange__Height.html">robot_inRange_Height</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== robot_seg ===================================
+
+@brief          The robot segmenters that aims to obtain the robot layer mask
+                and state
+
+@author         Yiye Chen.          yychen2019@gatech.edu
+@date           07/30/2021
+
+===================================== robot_seg ===================================
+</pre> </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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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment"> ============================== scene ===============================
+
+    @brief              The scene interpreter for the puzzle playing task
+            
+    The scene interpreter will split the scene into three four layers:
+1. Background (tabletop) layer
+2. Human layer
+3. Robot arm layer
+4. Puzzle piece layer
+    The first three relys on their own segmenter, and the puzzle piece layer
+    is assumed to be the residual.
+
+    The interpreter will provide the following additional functions:
+    1. Bird-eye-view rectification
+            
+    
+    @author:    Yiye Chen       yychen2019@gatech.edu
+    @date:      09/16/2021
+
+ ============================== scene ===============================
+</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a4011aa257f29f70823186ef39b47c444"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4011aa257f29f70823186ef39b47c444">&#9670;&nbsp;</a></span>depth_to_before_scale()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.layers.scene.depth_to_before_scale </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>depth</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>scale</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dtype</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.layers.tabletop_seg Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">===================================== tabletop_seg ===================================
+
+    @brief          The tabletop segmenters that aims to extract the tabletop layer
+            as the background
+
+    @author         Yiye Chen.          yychen2019@gatech.edu
+    @date           09/21/2021
+
+===================================== tabletop_seg ===================================
+</pre> </div></div><!-- contents -->
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">Surveillance.utils.imgs 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:acb0a799ba7208c422470a8c080fbb15d"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">draw_contour</a> (<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a>, <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">img</a>=None, color=(0, 255, 0), thick=3)</td></tr>
+<tr class="separator:acb0a799ba7208c422470a8c080fbb15d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a27771afa9ae0a4bd477c9a5f2e8f5b7e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a> = np.zeros((100, 100), dtype=bool)</td></tr>
+<tr class="separator:a27771afa9ae0a4bd477c9a5f2e8f5b7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab4de579efd40f493f524da0d154ef947"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#ab4de579efd40f493f524da0d154ef947">contour_map</a> = <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">draw_contour</a>(<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a>, thick=3)</td></tr>
+<tr class="separator:ab4de579efd40f493f524da0d154ef947"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5b4f18832e4e04fe6b9048797c1bff66"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a5b4f18832e4e04fe6b9048797c1bff66">contour_map_2</a> = <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">draw_contour</a>(<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a>, <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">img</a>, thick=3)</td></tr>
+<tr class="separator:a5b4f18832e4e04fe6b9048797c1bff66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6f08e8858cca0ac965b32519400179b3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a6f08e8858cca0ac965b32519400179b3">dot_coords</a></td></tr>
+<tr class="separator:a6f08e8858cca0ac965b32519400179b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a86d0d51ceb4bc3bd26707520f257a5a4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">img</a> = np.round(np.random.rand(bm.shape[0], bm.shape[1], 3) * 255).astype(np.uint8)</td></tr>
+<tr class="separator:a86d0d51ceb4bc3bd26707520f257a5a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8d1219cde4ee2788b3d53f82f06d3d66"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a8d1219cde4ee2788b3d53f82f06d3d66">img_dots</a> = <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#aa858e132ded6ece6e91a6861bf09ffa5">draw_dots</a>(<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">img</a>, <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a6f08e8858cca0ac965b32519400179b3">dot_coords</a>, radius=5)</td></tr>
+<tr class="separator:a8d1219cde4ee2788b3d53f82f06d3d66"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">@brief          The image/plotting-related utility functions
+
+@author:        Yiye Chen,          yychen2019@gatech.edu
+@date:          04/20/2022</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="acb0a799ba7208c422470a8c080fbb15d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acb0a799ba7208c422470a8c080fbb15d">&#9670;&nbsp;</a></span>draw_contour()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.utils.imgs.draw_contour </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>bm</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em> = <code>(0,&#160;255,&#160;0)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thick</em> = <code>3</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw all the countours of a binary image
+
+Args:
+    bm (array, (H, W)):         The binary map
+    img (array, (H, W, 3)):     The RGB image to plot the contour.
+                                If None, then will plot on the binary mask
+    color ((3, )):              The RGB color of the contour
+    thick (int):                The thickness of the contour in pixel
+Returns:
+    im (array, (H, W, 3)):      An RGB image containing the contour
+</pre> 
+</div>
+</div>
+<a id="aa858e132ded6ece6e91a6861bf09ffa5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa858e132ded6ece6e91a6861bf09ffa5">&#9670;&nbsp;</a></span>draw_dots()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def Surveillance.utils.imgs.draw_dots </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>coords</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em> = <code>[0,&#160;255,&#160;0]</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>radius</em> = <code>20</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Draw a set of dots on the image 
+
+Args:
+    img (array): The image to draw the coordinates. Currently only accept rgb input
+    coords (N, 2): The coordinates of the dots in the OpenCV style
+    color (3,): The rgb color of the dots
+    radius (int): The radius of the dots
+Returns:
+    img_plot (array): The image with the dots plotted
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a27771afa9ae0a4bd477c9a5f2e8f5b7e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a27771afa9ae0a4bd477c9a5f2e8f5b7e">&#9670;&nbsp;</a></span>bm</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bm = np.zeros((100, 100), dtype=bool)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab4de579efd40f493f524da0d154ef947"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab4de579efd40f493f524da0d154ef947">&#9670;&nbsp;</a></span>contour_map</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def contour_map = <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">draw_contour</a>(<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a>, thick=3)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5b4f18832e4e04fe6b9048797c1bff66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5b4f18832e4e04fe6b9048797c1bff66">&#9670;&nbsp;</a></span>contour_map_2</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def contour_map_2 = <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#acb0a799ba7208c422470a8c080fbb15d">draw_contour</a>(<a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a27771afa9ae0a4bd477c9a5f2e8f5b7e">bm</a>, <a class="el" href="namespaceSurveillance_1_1utils_1_1imgs.html#a86d0d51ceb4bc3bd26707520f257a5a4">img</a>, thick=3)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6f08e8858cca0ac965b32519400179b3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6f08e8858cca0ac965b32519400179b3">&#9670;&nbsp;</a></span>dot_coords</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">dot_coords</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  np.array(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        [</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;            [10, 10],</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;            [10, 20],</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;            [20, 20]</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;        ]</div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;    )</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a86d0d51ceb4bc3bd26707520f257a5a4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86d0d51ceb4bc3bd26707520f257a5a4">&#9670;&nbsp;</a></span>img</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">img = np.round(np.random.rand(bm.shape[0], bm.shape[1], 3) * 255).astype(np.uint8)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8d1219cde4ee2788b3d53f82f06d3d66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8d1219cde4ee2788b3d53f82f06d3d66">&#9670;&nbsp;</a></span>img_dots</h2>
+
+<div class="memitem">
+<div class="memproto">
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+    @brief              Contains the classes for the region grow algorithm
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+    @author             Yiye Chen.              yychen2019@gatech.edu
+    @date               07/22/2021 [created]
+
+========================================== region_grow =================================
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+<a href="#func-members">Functions</a>  </div>
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+<div class="title">Surveillance.utils.utils Namespace Reference</div>  </div>
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+<div class="contents">
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+</table>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6a186477e73e447102705458674afd76">&#9670;&nbsp;</a></span>assert_directory()</h2>
+
+<div class="memitem">
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+          <td class="memname">def Surveillance.utils.utils.assert_directory </td>
+          <td>(</td>
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+          <td class="paramname"><em>directory</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>IVALab Python Libraries: histogram Namespace Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">histogram Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classhistogram_1_1Histogram.html">Histogram</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+</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
+</small></address>
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@@ -0,0 +1,99 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div class="contents">
+<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_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>
+<li>apply()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#ac22ecc74cb6258b9e397c327df22e3a0">improcessor.basic</a>
+</li>
+<li>args
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a8187411843a6284ffb964ef3fb9fcab3">improcessor.basic</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a8187411843a6284ffb964ef3fb9fcab3">scripts.vid_playback</a>
+, <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>
+</li>
+<li>author
+: <a class="el" href="namespacesetup.html#ad50afb6ec7b2501164b80a0480596ded">setup</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_b"></a>- b -</h3><ul>
+<li>bag
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a91cf416c947b10c19071657221dc83d5">scripts.vid_playback</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a91cf416c947b10c19071657221dc83d5">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>bag_load
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a58d3768f784805a0a09dafc8db6971a6">scripts.vid_compress_bag</a>
+</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>
+<li>bb_intersection_over_union()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1shapeProcessing.html#ab7eebd751735c2b5e837885acd76da37">puzzle.utils.shapeProcessing</a>
+</li>
+<li>before_scale
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a3b3864e4aa627374980909112249a442">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>BEV_rectify_aruco()
+: <a class="el" href="namespacecamera_1_1utils_1_1utils.html#a627f6b3842f80fde34e5f698d27c67a2">camera.utils.utils</a>
+</li>
+<li>BGPARMAS
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1default__params.html#a63d31866b1bfc6204aaac56b432e5f6f">Surveillance.deployment.default_params</a>
+</li>
+<li>bgr()
+: <a class="el" href="group__Display__CV.html#gaeafc1655d1352d992351a4a4fb8c41c4">ivapy.display_cv</a>
+</li>
+<li>bgr_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a639e3a22b39be33ee1b1aa6fe3fb5ae6">camera.utils.display</a>
+</li>
+<li>binary()
+: <a class="el" href="group__Display__CV.html#ga5231a7f2d52ecf895f8fc6a7b864e328">ivapy.display_cv</a>
+</li>
+<li>binary_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a5bb007167c8ff574d18c37f80b37544c">camera.utils.display</a>
+</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>
+<li>bridge
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#afaeaf0eae0e58cfdcfaba37d6008d6d4">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#afaeaf0eae0e58cfdcfaba37d6008d6d4">scripts.vid_playback</a>
+</li>
+<li>buildTesterGS()
+: <a class="el" href="namespaceperceiver_1_1builders.html#ae462660dcff4f82f7de566df24ac742b">perceiver.builders</a>
+</li>
+</ul>
+</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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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>calibrate_real_puzzle()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5ff1d4c0b0e09f47ea74b98304472776">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>calibrate_real_puzzle_sequence()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a75110bf5d43fe007ebeba45171338097">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>call_back_id
+: <a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">puzzle.runner</a>
+, <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#ae38f754ee124747e5a6691e1ae03e1b2">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>cap
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a9499a5c7f196d66c6afe0222bd5a9219">scripts.vid_compress</a>
+</li>
+<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>
+<li>CfgCentMulti()
+: <a class="el" href="namespacepuzzle_1_1defaults.html#a746f8f534630ac5f0932366925d4ec23">puzzle.defaults</a>
+</li>
+<li>checkKey()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a616d1848a41cc1fbc752c7c9a128fd32">puzzle.utils.dataProcessing</a>
+</li>
+<li>close()
+: <a class="el" href="group__Display__CV.html#gac41a8ffe38e7266cbe1627824060ccf5">ivapy.display_cv</a>
+</li>
+<li>close_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ae009691b6e998af9cae3ac99d3276e57">camera.utils.display</a>
+</li>
+<li>closestNumber()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a6a4605d928b550c1595e4a8a2881edb5">puzzle.utils.dataProcessing</a>
+</li>
+<li>cluster_lines()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ac9d2f1c16bdbed87c557a38146c3c1b4">puzzle.utils.sideExtractor</a>
+</li>
+<li>color
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a37dbdc30935031c05304482e1be89d8f">camera.utils.display</a>
+</li>
+<li>color_type
+: <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>
+<li>compute_barycentre()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a88d3d66b7dda422cd40bdaa8fbd7bfeb">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_inout()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acd17c531cce4f73cea2b5140fc4a89c1">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_intersections()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a63dad9c3d424813c64545cbdb3d347d7">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_line_params()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0fe005d0c4ad27f3b4fceb382b93540c">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_mean_line()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a4e3dc70404fbeb3d8fb0c1237637c3e0">puzzle.utils.sideExtractor</a>
+</li>
+<li>compute_minmax_xy()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a73c48377360fe5e0524879b2bfe64fd2">puzzle.utils.sideExtractor</a>
+</li>
+<li>config
+: <a class="el" href="namespacebyMotion.html#ad2256458892609d0533df5d72a7257ad">byMotion</a>
+</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>corner_detection()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a08989457d5c61e3c3d7a5abf7385ef45">puzzle.utils.sideExtractor</a>
+</li>
+<li>count
+: <a class="el" href="namespacescripts_1_1vid__compress.html#ad43c3812e6d13e0518d9f8b8f463ffcf">scripts.vid_compress</a>
+</li>
+<li>cpath
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">puzzle.utils.puzzleProcessing</a>
+, <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">puzzle.utils.simProcessing</a>
+</li>
+<li>create_side_images()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad467af7c711c59369678b4fb5f9ad5e3">puzzle.utils.sideExtractor</a>
+</li>
+<li>create_side_images_simple()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a705678dba95bdf5555cf795992f645c6">puzzle.utils.sideExtractor</a>
+</li>
+<li>create_synthetic_puzzle()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a8b685959d3b63c2a7fd9ebd0c989ed79">puzzle.utils.puzzleProcessing</a>
+</li>
+<li>cropImage()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#abc17991b315d81be2b6e2605497a1ce6">puzzle.utils.imageProcessing</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_d.html b/docs/namespacemembers_d.html
new file mode 100644
index 00000000..f40c6da4
--- /dev/null
+++ b/docs/namespacemembers_d.html
@@ -0,0 +1,180 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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
+: <a class="el" href="namespacescripts_1_1d435__record.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__user.html#a93af95b2cc8ab9bee4020601e670177b">scripts.d435_record_rosbag_user</a>
+</li>
+<li>d435_starter
+: <a class="el" href="namespacescripts_1_1d435__record.html#ab10a2b2196dd477c36c656baa79b3887">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#ab10a2b2196dd477c36c656baa79b3887">scripts.d435_record_rosbag_dev</a>
+</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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#affb1327b18bf08a379d19eef89cf1ed1">scripts.vid_playback</a>
+</li>
+<li>default_path
+: <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>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#aa309581da47912d13c5672e63c854439">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>depth()
+: <a class="el" href="group__Display__CV.html#ga5f32097dd6970628fb251585d9ad3dcc">ivapy.display_cv</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a40fbe8949b277afd0fac64228851b12a">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a40fbe8949b277afd0fac64228851b12a">scripts.vid_playback</a>
+</li>
+<li>depth_clip
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a075488ae0f6c8cdc22c1e53c639bc5dc">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a075488ae0f6c8cdc22c1e53c639bc5dc">scripts.vid_playback</a>
+</li>
+<li>depth_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa5454a0c20f348c7b91be657f4acca5a">camera.utils.display</a>
+</li>
+<li>depth_scale
+: <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>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>
+<li>display_rgb_dep_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aa758fa9101c2487c90dc36c2cde52878">camera.utils.display</a>
+</li>
+<li>display_rgb_dep_plt()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ade219e1b3fe3040c7f281403ab83a4e3">camera.utils.display</a>
+</li>
+<li>distance_point_line_signed()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a5811646d653ef4485924999c8f973e98">puzzle.utils.sideExtractor</a>
+</li>
+<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>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_e.html b/docs/namespacemembers_e.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_e.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_e"></a>- e -</h3><ul>
+<li>extract_region()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html#a0bd53163c13ea4dab4cefe4810f83f2d">puzzle.utils.imageProcessing</a>
+</li>
+<li>extras_require
+: <a class="el" href="namespacesetup.html#a87e252e9065f460e9aef5218a999f5d3">setup</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_f.html b/docs/namespacemembers_f.html
new file mode 100644
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--- /dev/null
+++ b/docs/namespacemembers_f.html
@@ -0,0 +1,112 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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>
+<li>fpath
+: <a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">puzzle.utils.puzzleProcessing</a>
+, <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">puzzle.utils.simProcessing</a>
+</li>
+<li>fps
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a681bb2c58cd55763494a71a1935b6de4">scripts.vid_compress</a>
+</li>
+<li>fps_new
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a90240e235452a63186eb6c72a3beda7e">scripts.vid_compress</a>
+</li>
+<li>frame
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a943f49763dd36e31fc7ea8604fcad789">scripts.vid_compress</a>
+</li>
+<li>frame_num
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a83c68d366e7065c5ac414866f006fd28">scripts.vid_playback</a>
+</li>
+<li>frame_skip_rate
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a216a903c445685fe8b11baf3ec9603f7">scripts.vid_compress</a>
+</li>
+<li>frame_time_interval
+: <a class="el" href="namespacescripts_1_1vid__playback.html#a9496a3558ad1b2cf422dad370f8805aa">scripts.vid_playback</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_g.html b/docs/namespacemembers_g.html
new file mode 100644
index 00000000..8f72a4f3
--- /dev/null
+++ b/docs/namespacemembers_g.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>get_corners()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad9d6de353521340b53ce7c30f3eb133a">puzzle.utils.sideExtractor</a>
+</li>
+<li>get_default_params()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0e5ac3eea6b957c2be464d33cc61ce51">puzzle.utils.sideExtractor</a>
+</li>
+<li>get_line_through_points()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a1322b07de271dab7ff20941642aef932">puzzle.utils.sideExtractor</a>
+</li>
+<li>getline_rgb()
+: <a class="el" href="group__Display__CV.html#ga436d5b1be836d386c82eef8fa7c3c51a">ivapy.display_cv</a>
+</li>
+<li>getlinemask_rgb()
+: <a class="el" href="group__Display__CV.html#gac2af97b0fbfec86c0378ce9b0ee653a8">ivapy.display_cv</a>
+</li>
+<li>getpts_rgb()
+: <a class="el" href="group__Display__CV.html#ga9a25f6d7c1f4969ff2773faf1b423dc9">ivapy.display_cv</a>
+</li>
+<li>getState()
+: <a class="el" href="namespacebyMotion.html#afc3fbbaaf36a17db2fe167563e7dfac9">byMotion</a>
+</li>
+<li>gray()
+: <a class="el" href="group__Display__CV.html#ga140b4fd354d352073aa12aae5b954eeb">ivapy.display_cv</a>
+</li>
+<li>gray_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#af18c076aef7cbe31c0d7642ae16f7520">camera.utils.display</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_h.html b/docs/namespacemembers_h.html
new file mode 100644
index 00000000..8d0a12a3
--- /dev/null
+++ b/docs/namespacemembers_h.html
@@ -0,0 +1,98 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_h"></a>- h -</h3><ul>
+<li>H
+: <a class="el" href="namespacescripts_1_1d435__record.html#affa487e8e3cc48473cfc05c0ce0165e9">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#afaafc315b95987fc2b071bcd8f698b81">scripts.d435_record_rosbag_dev</a>
+</li>
+<li>height
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a509290c21d570ff479c1b9d9b1fe8810">scripts.vid_compress</a>
+</li>
+<li>help
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a81ae9faedaa69e3e28e2960a0548df8d">scripts.d435_record_rosbag_dev</a>
+, <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>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_i.html b/docs/namespacemembers_i.html
new file mode 100644
index 00000000..3ed694a8
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+++ b/docs/namespacemembers_i.html
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+<title>IVALab Python Libraries: Package Functions</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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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+
+<div class="contents">
+<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_i"></a>- i -</h3><ul>
+<li>ignore_undef
+: <a class="el" href="namespaceimprocessor_1_1basic.html#aad33857b6c8e9dd13da587983e9f334c">improcessor.basic</a>
+</li>
+<li>images()
+: <a class="el" href="group__Display__CV.html#ga3d0e58a5148e34c080c5a4be904369ea">ivapy.display_cv</a>
+</li>
+<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>
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+: <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>
+<li>instruction
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a8d53f52811787ac7b91d1fd31f23c5e3">camera.utils.display</a>
+</li>
+<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 -->
+<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>
+</html>
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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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+
+<div class="contents">
+<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>
+</ul>
+</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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diff --git a/docs/namespacemembers_l.html b/docs/namespacemembers_l.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+<li>load_path_default
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a5039b5ee970316620f5ba2931226a145">scripts.vid_compress_bag</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>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_m.html b/docs/namespacemembers_m.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
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+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */</script>
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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>
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+<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>
+<li>methods
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a33d390b3d71a902ec9fbcd5d2d237619">improcessor.basic</a>
+</li>
+<li>mtype
+: <a class="el" href="namespaceimprocessor_1_1basic.html#ab0a098437ac93d5508372ec9a8d89963">improcessor.basic</a>
+</li>
+<li>multiLineSurface()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1pygameProcessing.html#ab9320e6086393331639a37b37373af04">puzzle.utils.pygameProcessing</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_n.html b/docs/namespacemembers_n.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_n"></a>- n -</h3><ul>
+<li>name
+: <a class="el" href="namespacesetup.html#ab74e6bf80237ddc4109968cedc58c151">setup</a>
+</li>
+<li>nargs
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a87f35ac6fa80d957c59e394549aa7e15">scripts.vid_compress_bag</a>
+</li>
+<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>
+<li>numfuncs
+: <a class="el" href="namespaceimprocessor_1_1basic.html#aa096bfc0fa959ab8f1979bd9dc3f9f33">improcessor.basic</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_o.html b/docs/namespacemembers_o.html
new file mode 100644
index 00000000..6e535f5e
--- /dev/null
+++ b/docs/namespacemembers_o.html
@@ -0,0 +1,88 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_o"></a>- o -</h3><ul>
+<li>opKey
+: <a class="el" href="namespacescripts_1_1d435__record.html#af28ca61b776544cf6c894131e2d034c9">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#af28ca61b776544cf6c894131e2d034c9">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#af28ca61b776544cf6c894131e2d034c9">scripts.vid_playback</a>
+</li>
+<li>order_corners()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#abbaf5d39b5bf185147639105218e13ef">puzzle.utils.sideExtractor</a>
+</li>
+<li>out
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a2a89187d8e8e8fba509ef9ab5f815d88">scripts.vid_compress</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_p.html b/docs/namespacemembers_p.html
new file mode 100644
index 00000000..13d703e6
--- /dev/null
+++ b/docs/namespacemembers_p.html
@@ -0,0 +1,149 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a90eee7a4677ca8b1ed116364a24367f9">scripts.vid_playback</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>
+<li>plot_side_images()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad6424303731ab448dd3172cb0d9fde7b">puzzle.utils.sideExtractor</a>
+</li>
+<li>polyline_rgb()
+: <a class="el" href="group__Display__CV.html#ga121e3c117f98006e1b0056ae7930ca24">ivapy.display_cv</a>
+</li>
+<li>post()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#a678f954d58114ee8220ee51cb9f2d606">improcessor.basic</a>
+</li>
+<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#a19dc54485f63927598701468a9ae2bc8">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_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>
+</li>
+<li>puzzleSolver
+: <a class="el" href="namespacepuzzle_1_1runner.html#a0fdbcfb901e4e785cc37ae9f7920c0c9">puzzle.runner</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_r.html b/docs/namespacemembers_r.html
new file mode 100644
index 00000000..ddb9c8a0
--- /dev/null
+++ b/docs/namespacemembers_r.html
@@ -0,0 +1,151 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_r"></a>- r -</h3><ul>
+<li>ratio
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a33e97a0953b4f4a9f1b61cd9556e2350">camera.utils.display</a>
+, <a class="el" href="namespacescripts_1_1d435__record.html#a33e97a0953b4f4a9f1b61cd9556e2350">scripts.d435_record</a>
+, <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>
+<li>rgb()
+: <a class="el" href="group__Display__CV.html#gaa3326c793b2a917ff7e29266576a6503">ivapy.display_cv</a>
+, <a class="el" href="namespacescripts_1_1d435__record.html#ac9352d49e6b05c3bef53620f0556714b">scripts.d435_record</a>
+, <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#ac9352d49e6b05c3bef53620f0556714b">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#ac9352d49e6b05c3bef53620f0556714b">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#ac9352d49e6b05c3bef53620f0556714b">scripts.vid_playback</a>
+</li>
+<li>rgb_binary()
+: <a class="el" href="group__Display__CV.html#ga0f24748d3bebc9de14c2b0c1f3b550b6">ivapy.display_cv</a>
+</li>
+<li>rgb_binary_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#abd42fbc396fcd33589f126ebc119db5d">camera.utils.display</a>
+</li>
+<li>rgb_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a5d8ec2104c10f4ceb0016a4253f11163">camera.utils.display</a>
+</li>
+<li>rgb_depth()
+: <a class="el" href="group__Display__CV.html#ga1d2f0c1803d3bbb0ad9735b4636ca73f">ivapy.display_cv</a>
+</li>
+<li>rgb_depth_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a2edb58b146a9a1189a188ee9e822f9b6">camera.utils.display</a>
+</li>
+<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>rs_extrin_to_M()
+: <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#af427ba37c0002b9852a39b44e0dae889">camera.utils.rs_utils</a>
+</li>
+<li>rs_intrin_to_M()
+: <a class="el" href="namespacecamera_1_1utils_1_1rs__utils.html#a78938d1d1820fc5d782b880618ff2101">camera.utils.rs_utils</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_s.html b/docs/namespacemembers_s.html
new file mode 100644
index 00000000..e989c3c5
--- /dev/null
+++ b/docs/namespacemembers_s.html
@@ -0,0 +1,137 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_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>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a5b17a751399fad52e839be60093f8bad">scripts.vid_playback</a>
+</li>
+<li>saveTo()
+: <a class="el" href="namespacebyMotion.html#ae0edcd016ea976d8d29034d4a289b2c8">byMotion</a>
+</li>
+<li>SCORE_DIFFERENCE
+: <a class="el" href="namespacepuzzle_1_1board.html#a0cf23740b08ad1c16f8a276af9e8d24c">puzzle.board</a>
+, <a class="el" href="namespacepuzzle_1_1manager.html#a0cf23740b08ad1c16f8a276af9e8d24c">puzzle.manager</a>
+</li>
+<li>SCORE_SIMILAR
+: <a class="el" href="namespacepuzzle_1_1board.html#af5b4005e04dcf65d72ac694d6aa11988">puzzle.board</a>
+, <a class="el" href="namespacepuzzle_1_1manager.html#af5b4005e04dcf65d72ac694d6aa11988">puzzle.manager</a>
+</li>
+<li>set()
+: <a class="el" href="namespaceimprocessor_1_1basic.html#ae6ff03d6181778cf8e24cd3fbad5f73c">improcessor.basic</a>
+</li>
+<li>setHand()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html#aca0241f3a80de0f33b10a0cb9be84619">puzzle.utils.simProcessing</a>
+</li>
+<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>
+<li>size_new
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a6f4ecda27f1c7a9be4b2a6e6137c47ca">scripts.vid_compress</a>
+</li>
+<li>size_ratio
+: <a class="el" href="namespacescripts_1_1vid__compress.html#a9bfc2357bc33f126b0b498525d91d42d">scripts.vid_compress</a>
+</li>
+<li>squareInImage()
+: <a class="el" href="group__ivapy__testing.html#ga71460e9e11b6965da8d61f775b75bee6">vision</a>
+</li>
+<li>str
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a4b99ff73a8a869319570237b5c57ab03">scripts.vid_compress_bag</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>
+</li>
+<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 -->
+<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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_t.html b/docs/namespacemembers_t.html
new file mode 100644
index 00000000..8f0f23fd
--- /dev/null
+++ b/docs/namespacemembers_t.html
@@ -0,0 +1,142 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_t"></a>- t -</h3><ul>
+<li>t
+: <a class="el" href="namespacescripts_1_1vid__compress__bag.html#aaccc9105df5383111407fd5b41255e23">scripts.vid_compress_bag</a>
+</li>
+<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
+: <a class="el" href="namespaceSurveillance_1_1deployment_1_1ROS_1_1rosbag__runner.html#a3332d321c6c5000fc58ad3da7168ada4">Surveillance.deployment.ROS.rosbag_runner</a>
+</li>
+<li>tipFromBottom()
+: <a class="el" href="namespacetrackpointer_1_1toplines.html#ab1462a82f4f393fe7a48e350708104fe">trackpointer.toplines</a>
+</li>
+<li>total_time
+: <a class="el" href="namespacescripts_1_1vid__playback.html#ae4ca52b9abe06f0013a84e7b33cf30ff">scripts.vid_playback</a>
+</li>
+<li>trackpoint()
+: <a class="el" href="group__Display__CV.html#gad25109e7e19441ef6673afd6ebb72307">ivapy.display_cv</a>
+</li>
+<li>trackpoint_binary()
+: <a class="el" href="group__Display__CV.html#ga9b94cc68db6779dffe9f30dbefaba3f3">ivapy.display_cv</a>
+</li>
+<li>trackpoint_binary_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#a5bf11d1869f9314b2eee4e450e2831fb">camera.utils.display</a>
+</li>
+<li>trackpoint_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#aeb168f74829f2697757f61493d2d2d33">camera.utils.display</a>
+</li>
+<li>trackpoint_gray()
+: <a class="el" href="group__Display__CV.html#ga5b4f1ffa2e2bba19cf0a3bebde01b8f7">ivapy.display_cv</a>
+</li>
+<li>trackpoint_gray_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#ad3c45375ed6d95bd3d4cf04a291d5a98">camera.utils.display</a>
+</li>
+<li>trackpoints()
+: <a class="el" href="group__Display__CV.html#gaeb85be44dae0b5fcf0b46d59ba35b5c4">ivapy.display_cv</a>
+</li>
+<li>trackpoints_cv()
+: <a class="el" href="namespacecamera_1_1utils_1_1display.html#afc701baf505557648b3030178e313c10">camera.utils.display</a>
+</li>
+<li>type
+: <a class="el" href="namespacescripts_1_1d435__record__rosbag__dev.html#a7aead736a07eaf25623ad7bfa1f0ee2d">scripts.d435_record_rosbag_dev</a>
+, <a class="el" href="namespacescripts_1_1vid__compress__bag.html#a7aead736a07eaf25623ad7bfa1f0ee2d">scripts.vid_compress_bag</a>
+, <a class="el" href="namespacescripts_1_1vid__playback.html#a7aead736a07eaf25623ad7bfa1f0ee2d">scripts.vid_playback</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_u.html b/docs/namespacemembers_u.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: Package Functions</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>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<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_u"></a>- u -</h3><ul>
+<li>updateLabel()
+: <a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a4a9ae29f124c6905359869849aaa8878">puzzle.utils.dataProcessing</a>
+</li>
+<li>url
+: <a class="el" href="namespacesetup.html#afcd5a3e84f2adb7f83fa6c99911f31e4">setup</a>
+</li>
+</ul>
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacemembers_v.html b/docs/namespacemembers_v.html
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+<p>Default configuration for multi-centroid track pointer applied to singulated puzzle pieces. </p>
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+
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+</div><!-- top -->
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+</div><!--header-->
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1ParamRunner.html">ParamRunner</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1runner_1_1RealSolver.html">RealSolver</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
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+<tr class="memitem:a8ebfaf3fbfcf45ab336e700a52a9b122"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a> = int(os.path.basename(npy_file)[:4])</td></tr>
+<tr class="separator:a8ebfaf3fbfcf45ab336e700a52a9b122"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2775c0e672f9bfc7753972393d23a74d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d68c7f95c8b5042071ab5e9fd595c40"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a> = np.load(f, allow_pickle=True)</td></tr>
+<tr class="separator:a4d68c7f95c8b5042071ab5e9fd595c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acbe5fb8b5aa9022008b27cee1fe4aa90"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae1e167b26485ee9a975bf4fb78bc469c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad55d6aa3b1e1bebdd8331f117c8b1f85"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aef9247963b338f3536c923017ee83d36"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#aef9247963b338f3536c923017ee83d36">puzzle_solver_SolBoard</a> = '../../Surveillance/Surveillance/deployment/ROS/caliSolBoard.obj'</td></tr>
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+<tr class="separator:a0fdbcfb901e4e785cc37ae9f7920c0c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a174f5a65fd1cfc7848a2af3018a99fcb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6016e9125171356854e2a9fd66878c03"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab3f078684998b83967d507d0f453f454"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ab3f078684998b83967d507d0f453f454">verbose</a> = False</td></tr>
+<tr class="separator:ab3f078684998b83967d507d0f453f454"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac9d3a341b9ed09dc0bb6fa843a344659"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a> = cv2.imread(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, f'{str(<a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a>).zfill(4)}_visibleMask.png'), -1)</td></tr>
+<tr class="separator:ac9d3a341b9ed09dc0bb6fa843a344659"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a8ebfaf3fbfcf45ab336e700a52a9b122"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ebfaf3fbfcf45ab336e700a52a9b122">&#9670;&nbsp;</a></span>call_back_id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">call_back_id = int(os.path.basename(npy_file)[:4])</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2775c0e672f9bfc7753972393d23a74d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2775c0e672f9bfc7753972393d23a74d">&#9670;&nbsp;</a></span>configs_puzzleSolver</h2>
+
+<div class="memitem">
+<div class="memproto">
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+        <tr>
+          <td class="memname">configs_puzzleSolver</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;=  ParamRunner(</div>
+<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;        areaThresholdLower=1000,</div>
+<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;        areaThresholdUpper=8000,</div>
+<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;        pieceConstructor=Template,</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;        lengthThresholdLower=1000,</div>
+<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;        BoudingboxThresh=(20, 100),</div>
+<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;        tauDist=100,  <span class="comment"># @&lt; The radius distance determining if one piece is at the right position.</span></div>
+<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;        hand_radius=200,  <span class="comment"># @&lt; The radius distance to the hand center determining the near-by pieces.</span></div>
+<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;        tracking_life_thresh=15  <span class="comment"># @&lt; Tracking life for the pieces, it should be set according to the processing speed.</span></div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    )</div>
+</div><!-- fragment -->
+</div>
+</div>
+<a id="a4d68c7f95c8b5042071ab5e9fd595c40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d68c7f95c8b5042071ab5e9fd595c40">&#9670;&nbsp;</a></span>hTracker_BEV</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">hTracker_BEV = np.load(f, allow_pickle=True)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acbe5fb8b5aa9022008b27cee1fe4aa90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acbe5fb8b5aa9022008b27cee1fe4aa90">&#9670;&nbsp;</a></span>npy_file_list</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">npy_file_list = glob.glob(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, '*.npy'))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae1e167b26485ee9a975bf4fb78bc469c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1e167b26485ee9a975bf4fb78bc469c">&#9670;&nbsp;</a></span>plan</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">plan = puzzleSolver.process(<a class="el" href="namespacepuzzle_1_1runner.html#ad2352536c7ea489734a52c27723d8871">postImg</a>, <a class="el" href="namespacepuzzle_1_1runner.html#ac9d3a341b9ed09dc0bb6fa843a344659">visibleMask</a>, <a class="el" href="namespacepuzzle_1_1runner.html#a4d68c7f95c8b5042071ab5e9fd595c40">hTracker_BEV</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad2352536c7ea489734a52c27723d8871"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad2352536c7ea489734a52c27723d8871">&#9670;&nbsp;</a></span>postImg</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">postImg = cv2.imread(os.path.join(<a class="el" href="namespacepuzzle_1_1runner.html#a174f5a65fd1cfc7848a2af3018a99fcb">target_folder</a>, f'{str(<a class="el" href="namespacepuzzle_1_1runner.html#a8ebfaf3fbfcf45ab336e700a52a9b122">call_back_id</a>).zfill(4)}_puzzle.png'))</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad55d6aa3b1e1bebdd8331f117c8b1f85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad55d6aa3b1e1bebdd8331f117c8b1f85">&#9670;&nbsp;</a></span>puzzle_solver_mode</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int puzzle_solver_mode = 2</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aef9247963b338f3536c923017ee83d36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aef9247963b338f3536c923017ee83d36">&#9670;&nbsp;</a></span>puzzle_solver_SolBoard</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">string puzzle_solver_SolBoard = '../../Surveillance/Surveillance/deployment/ROS/caliSolBoard.obj'</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0fdbcfb901e4e785cc37ae9f7920c0c9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fdbcfb901e4e785cc37ae9f7920c0c9">&#9670;&nbsp;</a></span>puzzleSolver</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a174f5a65fd1cfc7848a2af3018a99fcb">&#9670;&nbsp;</a></span>target_folder</h2>
+
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+          <td class="memname">string target_folder = '../../Surveillance/Surveillance/deployment/ROS/tangled_1_work'</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a6016e9125171356854e2a9fd66878c03">&#9670;&nbsp;</a></span>thePercent</h2>
+
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+          <td class="memname">thePercent = puzzleSolver.progress(USE_MEASURED=False)</td>
+        </tr>
+      </table>
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+
+</div>
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+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac9d3a341b9ed09dc0bb6fa843a344659"></a>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.17
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+<title>IVALab Python Libraries: puzzle.utils.dataProcessing Namespace Reference</title>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
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+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+        name="MSearchResults" id="MSearchResults">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html">dataProcessing</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.dataProcessing Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1dataProcessing_1_1copyAttributes.html">copyAttributes</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a254c50137b6f842f52818db48523b8f8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a254c50137b6f842f52818db48523b8f8">calculateMatches</a> (des1, des2, ratio_threshold=0.7)</td></tr>
+<tr class="memdesc:a254c50137b6f842f52818db48523b8f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Calculate the matches based on KNN.  <a href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a254c50137b6f842f52818db48523b8f8">More...</a><br /></td></tr>
+<tr class="separator:a254c50137b6f842f52818db48523b8f8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a616d1848a41cc1fbc752c7c9a128fd32"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a616d1848a41cc1fbc752c7c9a128fd32">checkKey</a> (dict1, dict2, value)</td></tr>
+<tr class="separator:a616d1848a41cc1fbc752c7c9a128fd32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a4605d928b550c1595e4a8a2881edb5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a6a4605d928b550c1595e4a8a2881edb5">closestNumber</a> (num, basis=50, lower=True)</td></tr>
+<tr class="separator:a6a4605d928b550c1595e4a8a2881edb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4a9ae29f124c6905359869849aaa8878"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a4a9ae29f124c6905359869849aaa8878">updateLabel</a> (x_list, x_label)</td></tr>
+<tr class="memdesc:a4a9ae29f124c6905359869849aaa8878"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update the label according to the ranking of all the elements' (with the same label) mean value.  <a href="namespacepuzzle_1_1utils_1_1dataProcessing.html#a4a9ae29f124c6905359869849aaa8878">More...</a><br /></td></tr>
+<tr class="separator:a4a9ae29f124c6905359869849aaa8878"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a254c50137b6f842f52818db48523b8f8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a254c50137b6f842f52818db48523b8f8">&#9670;&nbsp;</a></span>calculateMatches()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.calculateMatches </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>des1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>des2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ratio_threshold</em> = <code>0.7</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Calculate the matches based on KNN. </p>
+<p>For premise behind this approach, see <a href="https://github.com/adumrewal/SIFTImageSimilarity/blob/master/SIFTSimilarityInteractive.ipynb">https://github.com/adumrewal/SIFTImageSimilarity/blob/master/SIFTSimilarityInteractive.ipynb</a></p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">des1</td><td>First descriptor. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">des2</td><td>Second descriptor.</td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">topResults</td><td>Final matches. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a616d1848a41cc1fbc752c7c9a128fd32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a616d1848a41cc1fbc752c7c9a128fd32">&#9670;&nbsp;</a></span>checkKey()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.checkKey </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dict2</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Check the key &amp; value pairs between two dicts given a query value.
+
+Args:
+    dict1: Query dict 1.
+    dict2:  Query dict 2.
+    value:  Query value.
+
+Returns:
+    Whether the keys found are the same.
+</pre> 
+</div>
+</div>
+<a id="a6a4605d928b550c1595e4a8a2881edb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a4605d928b550c1595e4a8a2881edb5">&#9670;&nbsp;</a></span>closestNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.closestNumber </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>num</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>basis</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lower</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Get the closest number to the basis target for the input number.
+e.g., 580 with 50 -&gt; 550
+
+Args:
+    num: The input number.
+    basis: The basis target number.
+    lower: The direction.
+
+Returns:
+    The integar of the closest number.</pre> 
+</div>
+</div>
+<a id="a4a9ae29f124c6905359869849aaa8878"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a9ae29f124c6905359869849aaa8878">&#9670;&nbsp;</a></span>updateLabel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.dataProcessing.updateLabel </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>x_list</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>x_label</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Update the label according to the ranking of all the elements' (with the same label) mean value. </p>
+<p>E.g., x_list = [28,137,263,269,33,151] / x_label = [2,3,1,1,2,3] -&gt; x_label_updated = [0,1,2,2,0,1]</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">x_list</td><td>Value list. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">x_label</td><td>Original label.</td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">x_label_updated</td><td>The updated label. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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
+</small></address>
+</body>
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diff --git a/docs/namespacepuzzle_1_1utils_1_1imageProcessing.html b/docs/namespacepuzzle_1_1utils_1_1imageProcessing.html
new file mode 100644
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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: puzzle.utils.imageProcessing Namespace 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>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+<script type="text/javascript" src="menudata.js"></script>
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+  $(document).ready(function() { init_search(); });
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1imageProcessing.html">imageProcessing</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">puzzle.utils.imageProcessing 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:abc17991b315d81be2b6e2605497a1ce6"><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#abc17991b315d81be2b6e2605497a1ce6">cropImage</a> (image, template)</td></tr>
+<tr class="separator:abc17991b315d81be2b6e2605497a1ce6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0bd53163c13ea4dab4cefe4810f83f2d"><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#a0bd53163c13ea4dab4cefe4810f83f2d">extract_region</a> (img, verbose=False)</td></tr>
+<tr class="separator:a0bd53163c13ea4dab4cefe4810f83f2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4226003f3aa87494cc657c6039c628d4"><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#a4226003f3aa87494cc657c6039c628d4">find_nonzero_mask</a> (mask)</td></tr>
+<tr class="separator:a4226003f3aa87494cc657c6039c628d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19dc54485f63927598701468a9ae2bc8"><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#a19dc54485f63927598701468a9ae2bc8">preprocess_real_puzzle</a> (img, mask=None, areaThresholdLower=1000, areaThresholdUpper=8000, BoudingboxThresh=(30, 80), cannyThresh=(30, 50), WITH_AREA_THRESH=False, verbose=True)</td></tr>
+<tr class="memdesc:a19dc54485f63927598701468a9ae2bc8"><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#a19dc54485f63927598701468a9ae2bc8">More...</a><br /></td></tr>
+<tr class="separator:a19dc54485f63927598701468a9ae2bc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9564a000752268a38828146005b80283"><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#a9564a000752268a38828146005b80283">preprocess_synthetic_puzzle</a> (img, mask=None, areaThresholdLower=1000, areaThresholdUpper=8000, cannyThresh=(20, 80), verbose=False)</td></tr>
+<tr class="separator:a9564a000752268a38828146005b80283"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<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="separator:a350b60c8d8dd4ab76e00479c86c0a539"><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>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="abc17991b315d81be2b6e2605497a1ce6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc17991b315d81be2b6e2605497a1ce6">&#9670;&nbsp;</a></span>cropImage()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.cropImage </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>template</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </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.
+
+Returns:
+    The resized image.
+</pre> 
+</div>
+</div>
+<a id="a0bd53163c13ea4dab4cefe4810f83f2d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bd53163c13ea4dab4cefe4810f83f2d">&#9670;&nbsp;</a></span>extract_region()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.extract_region </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Extract the regions from user's self-defined template image.
+
+Args:
+    img: The input image.
+    verbose: The flag of whether to debug.
+
+Returns:
+    regions: The mask region list.
+</pre> 
+</div>
+</div>
+<a id="a4226003f3aa87494cc657c6039c628d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4226003f3aa87494cc657c6039c628d4">&#9670;&nbsp;</a></span>find_nonzero_mask()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.find_nonzero_mask </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em></td><td>)</td>
+          <td></td>
+        </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
+
+Returns:
+    rcoords: The coordinates of the non-zero elements (x,y style)
+</pre> 
+</div>
+</div>
+<a id="a19dc54485f63927598701468a9ae2bc8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19dc54485f63927598701468a9ae2bc8">&#9670;&nbsp;</a></span>preprocess_real_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.preprocess_real_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdLower</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdUpper</em> = <code>8000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>BoudingboxThresh</em> = <code>(30,80)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cannyThresh</em> = <code>(30,&#160;50)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>WITH_AREA_THRESH</em> = <code>False</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>True</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<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>
+<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>Lower threshold for area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">areaThresholdUpper</td><td>Upper threshold for area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">BoudingboxThresh</td><td>Size threshold of the bounding box area. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">cannyThresh</td><td>Threshold for canny. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">WITH_AREA_THRESH</td><td>Mainly for previous codes which have not set the BoudingboxThresh properly. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">verbose</td><td>Debug verbosity lag.</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>seg_img_combined The mask region list. </dd></dl>
+
+</div>
+</div>
+<a id="a9564a000752268a38828146005b80283"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9564a000752268a38828146005b80283">&#9670;&nbsp;</a></span>preprocess_synthetic_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.preprocess_synthetic_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mask</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdLower</em> = <code>1000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>areaThresholdUpper</em> = <code>8000</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>cannyThresh</em> = <code>(20,&#160;80)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </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.
+
+Returns:
+    seg_img_combined: The mask region list.
+</pre> 
+</div>
+</div>
+<a id="a350b60c8d8dd4ab76e00479c86c0a539"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a350b60c8d8dd4ab76e00479c86c0a539">&#9670;&nbsp;</a></span>rotate_im()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.rotate_im </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">
+<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.
+
+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>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c7458be2427dc2089cec4aefd752c23">&#9670;&nbsp;</a></span>white_balance()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.imageProcessing.white_balance </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief Change the white balance of the image.
+
+Args:
+    img: Input image.
+
+Returns:
+    result: The processed image with white balance.
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1puzzleProcessing.html b/docs/namespacepuzzle_1_1utils_1_1puzzleProcessing.html
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html">puzzleProcessing</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.puzzleProcessing 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:a5ff1d4c0b0e09f47ea74b98304472776"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5ff1d4c0b0e09f47ea74b98304472776">calibrate_real_puzzle</a> (theImageMea, thePrevImage=None, theCalibrated=None, params=ParamPuzzle, option=1, verbose=False)</td></tr>
+<tr class="separator:a5ff1d4c0b0e09f47ea74b98304472776"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a75110bf5d43fe007ebeba45171338097"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a75110bf5d43fe007ebeba45171338097">calibrate_real_puzzle_sequence</a> (img_folder, option, fsize=1, verbose=False)</td></tr>
+<tr class="separator:a75110bf5d43fe007ebeba45171338097"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8b685959d3b63c2a7fd9ebd0c989ed79"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a8b685959d3b63c2a7fd9ebd0c989ed79">create_synthetic_puzzle</a> (theImageSol, theMaskSol_src, explodeDis=(200, 200), moveDis=(2000, 100), rotateRange=70, ROTATION_ENABLED=True, verbose=False)</td></tr>
+<tr class="separator:a8b685959d3b63c2a7fd9ebd0c989ed79"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
+Variables</h2></td></tr>
+<tr class="memitem:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a88e1dbf20e9778b4c5a1d7417361fb89">cpath</a> = fpath.rsplit('/', 1)[0]</td></tr>
+<tr class="separator:a88e1dbf20e9778b4c5a1d7417361fb89"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1puzzleProcessing.html#a5f36266c8fc5784d82b4a09335e2fc20">fpath</a> = os.path.realpath(__file__)</td></tr>
+<tr class="separator:a5f36266c8fc5784d82b4a09335e2fc20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="a5ff1d4c0b0e09f47ea74b98304472776"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ff1d4c0b0e09f47ea74b98304472776">&#9670;&nbsp;</a></span>calibrate_real_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.calibrate_real_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageMea</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thePrevImage</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theCalibrated</em> = <code>None</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>params</em> = <code>ParamPuzzle</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board or the pieces in the solution area.
+
+Args:
+    theImageMea: The input image.
+    thePrevImage: The pre-saved image of last frame.
+    theCalibrated: Load a pre-saved board, otherwise create an empty one.
+    params: Parameter settings to extract the pieces.
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle
+    verbose: Whether to debug
+
+Returns:
+    thePrevImage: The updated previous image.
+    theCalibrated: A board of calibrated pieces.
+</pre> 
+</div>
+</div>
+<a id="a75110bf5d43fe007ebeba45171338097"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a75110bf5d43fe007ebeba45171338097">&#9670;&nbsp;</a></span>calibrate_real_puzzle_sequence()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.calibrate_real_puzzle_sequence </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>img_folder</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>option</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fsize</em> = <code>1</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  To obtain the solution board from an image sequence for calibration.
+
+Args:
+    img_folder: The path to the image folder. We assume the image name like XX_0.png
+    option: The option 0 is to assemble the puzzle while option 1 is to disassemble the puzzle
+    fsize: The scale to resize the input image.
+    verbose: Whether to debug
+
+Returns:
+    theCalibrated: A board of calibrated pieces
+</pre> 
+</div>
+</div>
+<a id="a8b685959d3b63c2a7fd9ebd0c989ed79"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8b685959d3b63c2a7fd9ebd0c989ed79">&#9670;&nbsp;</a></span>create_synthetic_puzzle()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.puzzleProcessing.create_synthetic_puzzle </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theImageSol</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>theMaskSol_src</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>explodeDis</em> = <code>(200,200)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>moveDis</em> = <code>(2000,100)</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rotateRange</em> = <code>70</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>ROTATION_ENABLED</em> = <code>True</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief create a synthetic/exploded/rotated measured board &amp; solution board from a foreground image &amp; background image.
+
+Args:
+    theImageSol: The source RGB image.
+    theMaskSol_src: The source template image.
+    explodeDis: The exploded distance setting, (xx,yy).
+    moveDis: The moved distance setting, (xx,yy).
+    rotateRange: The range of the rotation.
+    ROTATION_ENABLED: The flag signifying rotation option.
+    verbose: The flag signifying debug or not.
+
+Returns:
+    theGridMea: The measured board.
+    theGridSol: The solution board.
+    gt_pAssignments: The ground truth assignments.
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Variable Documentation</h2>
+<a id="a88e1dbf20e9778b4c5a1d7417361fb89"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88e1dbf20e9778b4c5a1d7417361fb89">&#9670;&nbsp;</a></span>cpath</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">cpath = fpath.rsplit('/', 1)[0]</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f36266c8fc5784d82b4a09335e2fc20"></a>
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+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">fpath = os.path.realpath(__file__)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1pygameProcessing.html b/docs/namespacepuzzle_1_1utils_1_1pygameProcessing.html
new file mode 100644
index 00000000..ac248bb7
--- /dev/null
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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: puzzle.utils.pygameProcessing Namespace 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>
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+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.pygameProcessing Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpuzzle_1_1utils_1_1pygameProcessing_1_1TextRectException.html">TextRectException</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:ab9320e6086393331639a37b37373af04"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1pygameProcessing.html#ab9320e6086393331639a37b37373af04">multiLineSurface</a> (str string, pygame.font.Font font, pygame.rect.Rect rect, tuple fontColour, tuple BGColour, justification=0)</td></tr>
+<tr class="separator:ab9320e6086393331639a37b37373af04"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ab9320e6086393331639a37b37373af04"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab9320e6086393331639a37b37373af04">&#9670;&nbsp;</a></span>multiLineSurface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.pygameProcessing.multiLineSurface </td>
+          <td>(</td>
+          <td class="paramtype">str&#160;</td>
+          <td class="paramname"><em>string</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pygame.font.Font&#160;</td>
+          <td class="paramname"><em>font</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">pygame.rect.Rect&#160;</td>
+          <td class="paramname"><em>rect</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tuple&#160;</td>
+          <td class="paramname"><em>fontColour</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tuple&#160;</td>
+          <td class="paramname"><em>BGColour</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>justification</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Returns a surface containing the passed text string, reformatted
+to fit within the given rect, word-wrapping as necessary. The text
+will be anti-aliased.
+
+See https://stackoverflow.com/a/32624909
+
+Parameters
+----------
+string - the text you wish to render. \n begins a new line.
+font - a Font object
+rect - a rect style giving the size of the surface requested.
+fontColour - a three-byte tuple of the rgb value of the
+         text color. ex (0, 0, 0) = BLACK
+BGColour - a three-byte tuple of the rgb value of the surface.
+justification - 0 (default) left-justified
+            1 horizontally centered
+            2 right-justified
+
+Returns
+-------
+Success - a surface object with the text rendered onto it.
+Failure - raises a TextRectException if the text won't fit onto the surface.
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1shapeProcessing.html b/docs/namespacepuzzle_1_1utils_1_1shapeProcessing.html
new file mode 100644
index 00000000..55fdcc82
--- /dev/null
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@@ -0,0 +1,127 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<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: puzzle.utils.shapeProcessing Namespace 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>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+/* @license-end */
+</script>
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+        name="MSearchResults" id="MSearchResults">
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+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1shapeProcessing.html">shapeProcessing</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">puzzle.utils.shapeProcessing 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:ab7eebd751735c2b5e837885acd76da37"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1shapeProcessing.html#ab7eebd751735c2b5e837885acd76da37">bb_intersection_over_union</a> (boxA, boxB)</td></tr>
+<tr class="separator:ab7eebd751735c2b5e837885acd76da37"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ab7eebd751735c2b5e837885acd76da37"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab7eebd751735c2b5e837885acd76da37">&#9670;&nbsp;</a></span>bb_intersection_over_union()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.shapeProcessing.bb_intersection_over_union </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>boxA</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>boxB</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Compute the intersection of two bounding boxes.
+        See https://gist.github.com/meyerjo/dd3533edc97c81258898f60d8978eddc
+
+Args:
+    boxA: A list representing a bounding box.
+    boxB: A list representing a bounding box.
+
+Returns:
+    iou: The intersection over union value.
+</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
+</small></address>
+</body>
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diff --git a/docs/namespacepuzzle_1_1utils_1_1sideExtractor.html b/docs/namespacepuzzle_1_1utils_1_1sideExtractor.html
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index 00000000..5b55adda
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+<meta name="generator" content="Doxygen 1.8.17"/>
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+<title>IVALab Python Libraries: puzzle.utils.sideExtractor Namespace Reference</title>
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
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+</table>
+</div>
+<!-- end header part -->
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+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.sideExtractor Namespace Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+Functions</h2></td></tr>
+<tr class="memitem:ac9d2f1c16bdbed87c557a38146c3c1b4"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ac9d2f1c16bdbed87c557a38146c3c1b4">cluster_lines</a> (lines)</td></tr>
+<tr class="separator:ac9d2f1c16bdbed87c557a38146c3c1b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a88d3d66b7dda422cd40bdaa8fbd7bfeb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd17c531cce4f73cea2b5140fc4a89c1"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acd17c531cce4f73cea2b5140fc4a89c1">compute_inout</a> (class_image, line_params, pts, d_threshold=10)</td></tr>
+<tr class="separator:acd17c531cce4f73cea2b5140fc4a89c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a63dad9c3d424813c64545cbdb3d347d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0fe005d0c4ad27f3b4fceb382b93540c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0fe005d0c4ad27f3b4fceb382b93540c">compute_line_params</a> (corners)</td></tr>
+<tr class="separator:a0fe005d0c4ad27f3b4fceb382b93540c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4e3dc70404fbeb3d8fb0c1237637c3e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a73c48377360fe5e0524879b2bfe64fd2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a08989457d5c61e3c3d7a5abf7385ef45"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a08989457d5c61e3c3d7a5abf7385ef45">corner_detection</a> (edges, intersections, pts, rect_size=50, show=False)</td></tr>
+<tr class="separator:a08989457d5c61e3c3d7a5abf7385ef45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad467af7c711c59369678b4fb5f9ad5e3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad467af7c711c59369678b4fb5f9ad5e3">create_side_images</a> (class_image, inout, corners)</td></tr>
+<tr class="separator:ad467af7c711c59369678b4fb5f9ad5e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a705678dba95bdf5555cf795992f645c6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a705678dba95bdf5555cf795992f645c6">create_side_images_simple</a> (class_image, inout, corners)</td></tr>
+<tr class="separator:a705678dba95bdf5555cf795992f645c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5811646d653ef4485924999c8f973e98"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a5811646d653ef4485924999c8f973e98">distance_point_line_signed</a> (line_param, pts)</td></tr>
+<tr class="separator:a5811646d653ef4485924999c8f973e98"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0efae7d4ab4464b04cde77c964fe9eea"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0efae7d4ab4464b04cde77c964fe9eea">distance_point_line_squared</a> (line_param, pts)</td></tr>
+<tr class="separator:a0efae7d4ab4464b04cde77c964fe9eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a72aa7368a5925f2948af7b1b1d438c39"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a348352837eeedcb27f195eed638f6bce"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a348352837eeedcb27f195eed638f6bce">get_best_fitting_rect_coords</a> (xy, d_threshold=30, perp_angle_thresh=20, verbose=0)</td></tr>
+<tr class="separator:a348352837eeedcb27f195eed638f6bce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad9d6de353521340b53ce7c30f3eb133a"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad9d6de353521340b53ce7c30f3eb133a">get_corners</a> (dst, neighborhood_size=5, score_threshold=0.3, minmax_threshold=100)</td></tr>
+<tr class="separator:ad9d6de353521340b53ce7c30f3eb133a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e5ac3eea6b957c2be464d33cc61ce51"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a0e5ac3eea6b957c2be464d33cc61ce51">get_default_params</a> ()</td></tr>
+<tr class="separator:a0e5ac3eea6b957c2be464d33cc61ce51"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1322b07de271dab7ff20941642aef932"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a1322b07de271dab7ff20941642aef932">get_line_through_points</a> (p0, p1)</td></tr>
+<tr class="separator:a1322b07de271dab7ff20941642aef932"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1b63710387e2e9e67878305868979a76"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a1b63710387e2e9e67878305868979a76">line_intersection</a> (line1, line2)</td></tr>
+<tr class="separator:a1b63710387e2e9e67878305868979a76"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abbaf5d39b5bf185147639105218e13ef"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#abbaf5d39b5bf185147639105218e13ef">order_corners</a> (corners)</td></tr>
+<tr class="separator:abbaf5d39b5bf185147639105218e13ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad6424303731ab448dd3172cb0d9fde7b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ad6424303731ab448dd3172cb0d9fde7b">plot_side_images</a> (side_images, inout)</td></tr>
+<tr class="separator:ad6424303731ab448dd3172cb0d9fde7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac410e17f31d4fce91e19436682f13aa2"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#ac410e17f31d4fce91e19436682f13aa2">prune_lines_by_voting</a> (lines, angle_threshold=5)</td></tr>
+<tr class="separator:ac410e17f31d4fce91e19436682f13aa2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a169b27e309e92094b1d5249ff53acfd9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a169b27e309e92094b1d5249ff53acfd9">rotate</a> (image, degrees)</td></tr>
+<tr class="separator:a169b27e309e92094b1d5249ff53acfd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8979ba1d83427575ad94e4e1350c61b9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#a8979ba1d83427575ad94e4e1350c61b9">shape_classification</a> (edges, line_params, d_threshold=500, n_hs=10)</td></tr>
+<tr class="separator:a8979ba1d83427575ad94e4e1350c61b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acc5798ece38fbdd15e907ab9179d82f3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acc5798ece38fbdd15e907ab9179d82f3">sideExtractor</a> (puzzleTemplate, **kwargs)</td></tr>
+<tr class="memdesc:acc5798ece38fbdd15e907ab9179d82f3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Unsure what does.  <a href="namespacepuzzle_1_1utils_1_1sideExtractor.html#acc5798ece38fbdd15e907ab9179d82f3">More...</a><br /></td></tr>
+<tr class="separator:acc5798ece38fbdd15e907ab9179d82f3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Function Documentation</h2>
+<a id="ac9d2f1c16bdbed87c557a38146c3c1b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9d2f1c16bdbed87c557a38146c3c1b4">&#9670;&nbsp;</a></span>cluster_lines()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.cluster_lines </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88d3d66b7dda422cd40bdaa8fbd7bfeb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88d3d66b7dda422cd40bdaa8fbd7bfeb">&#9670;&nbsp;</a></span>compute_barycentre()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_barycentre </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thresh</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>value</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the segmented puzzle piece, compute its barycentre.
+</pre> 
+</div>
+</div>
+<a id="acd17c531cce4f73cea2b5140fc4a89c1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd17c531cce4f73cea2b5140fc4a89c1">&#9670;&nbsp;</a></span>compute_inout()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_inout </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_params</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>10</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the full class image, the line parameters and the coordinates of the barycenter,
+compute for each side if the curve of the piece goes inside (in) or outside (out).
+This is done by computing the mean coordinates for each class and see if the signed distance
+from the corners' line has the same sign of the signed distance of the barycenter. If that
+true, the two points lie on the same side and we have a in; otherwise we have a out.
+To let the points of the curve to contribute more to the mean point calculation, only the
+signed distances that are greater than a threshold are used.
+</pre> 
+</div>
+</div>
+<a id="a63dad9c3d424813c64545cbdb3d347d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a63dad9c3d424813c64545cbdb3d347d7">&#9670;&nbsp;</a></span>compute_intersections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_intersections </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>mean_lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>size</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0fe005d0c4ad27f3b4fceb382b93540c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fe005d0c4ad27f3b4fceb382b93540c">&#9670;&nbsp;</a></span>compute_line_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_line_params </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4e3dc70404fbeb3d8fb0c1237637c3e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e3dc70404fbeb3d8fb0c1237637c3e0">&#9670;&nbsp;</a></span>compute_mean_line()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_mean_line </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>debug</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a73c48377360fe5e0524879b2bfe64fd2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73c48377360fe5e0524879b2bfe64fd2">&#9670;&nbsp;</a></span>compute_minmax_xy()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.compute_minmax_xy </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>thresh</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given the thresholded image, compute the minimum and maximum x and y
+coordinates of the segmented puzzle piece.
+</pre> 
+</div>
+</div>
+<a id="a08989457d5c61e3c3d7a5abf7385ef45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08989457d5c61e3c3d7a5abf7385ef45">&#9670;&nbsp;</a></span>corner_detection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.corner_detection </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>edges</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>intersections</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>rect_size</em> = <code>50</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>show</em> = <code>False</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad467af7c711c59369678b4fb5f9ad5e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad467af7c711c59369678b4fb5f9ad5e3">&#9670;&nbsp;</a></span>create_side_images()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.create_side_images </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a705678dba95bdf5555cf795992f645c6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a705678dba95bdf5555cf795992f645c6">&#9670;&nbsp;</a></span>create_side_images_simple()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.create_side_images_simple </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>class_image</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5811646d653ef4485924999c8f973e98"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5811646d653ef4485924999c8f973e98">&#9670;&nbsp;</a></span>distance_point_line_signed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.distance_point_line_signed </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_param</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Computes the signed distance of a 2D point (x0, y0) from a line ax + by + c = 0
+</pre> 
+</div>
+</div>
+<a id="a0efae7d4ab4464b04cde77c964fe9eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0efae7d4ab4464b04cde77c964fe9eea">&#9670;&nbsp;</a></span>distance_point_line_squared()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.distance_point_line_squared </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_param</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>pts</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Computes the squared distance of a 2D point (x0, y0) from a line ax + by + c = 0
+</pre> 
+</div>
+</div>
+<a id="a72aa7368a5925f2948af7b1b1d438c39"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a72aa7368a5925f2948af7b1b1d438c39">&#9670;&nbsp;</a></span>draw_lines()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.draw_lines </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>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>color</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a348352837eeedcb27f195eed638f6bce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a348352837eeedcb27f195eed638f6bce">&#9670;&nbsp;</a></span>get_best_fitting_rect_coords()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_best_fitting_rect_coords </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>xy</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>30</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>perp_angle_thresh</em> = <code>20</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>verbose</em> = <code>0</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Since we expect the 4 puzzle corners to be the corners of a rectangle, here we take
+all detected Harris corners and we find the best corresponding rectangle.
+We perform a recursive search with max depth = 2:
+- At depth 0 we take one of the input point as the first corner of the rectangle
+- At depth 1 we select another input point (with distance from the first point greater
+than d_threshold) as the second point
+- At depth 2 and 3 we take the other points. However, the lines 01-12 and 12-23 should be
+as perpendicular as possible. If the angle formed by these lines is too much far from the
+right angle, we discard the choice.
+- At depth 3, if a valid candidate (4 points that form an almost perpendicular rectangle) is found,
+we add it to the list of candidates.
+
+Given a list of candidate rectangles, we then select the best one by taking the candidate that maximizes
+the function: area * Gaussian(rectangularness)
+- area: it is the area of the candidate shape. We expect that the puzzle corners will form the maximum area
+- rectangularness: it is the mse of the candidate shape's angles compared to a 90 degree angles. The smaller
+        this value, the most the shape is similar toa rectangle.
+</pre> 
+</div>
+</div>
+<a id="ad9d6de353521340b53ce7c30f3eb133a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad9d6de353521340b53ce7c30f3eb133a">&#9670;&nbsp;</a></span>get_corners()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_corners </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>dst</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>neighborhood_size</em> = <code>5</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>score_threshold</em> = <code>0.3</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>minmax_threshold</em> = <code>100</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">@brief  Given the input Harris image (where in each pixel the Harris function is
+        computed), extract discrete corners satisfying detection constraints.
+
+@param[in]  dst
+@param[in]  neighborhood_size
+@param[in]  score_threshold
+@param[in]  minmax_threshold
+
+@param[out] xy ??
+</pre> 
+</div>
+</div>
+<a id="a0e5ac3eea6b957c2be464d33cc61ce51"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e5ac3eea6b957c2be464d33cc61ce51">&#9670;&nbsp;</a></span>get_default_params()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_default_params </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1322b07de271dab7ff20941642aef932"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1322b07de271dab7ff20941642aef932">&#9670;&nbsp;</a></span>get_line_through_points()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.get_line_through_points </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p0</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>p1</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Given two points p0 (x0, y0) and p1 (x1, y1),
+compute the coefficients (a, b, c) of the line
+that passes through both points.
+</pre> 
+</div>
+</div>
+<a id="a1b63710387e2e9e67878305868979a76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1b63710387e2e9e67878305868979a76">&#9670;&nbsp;</a></span>line_intersection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.line_intersection </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line1</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line2</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abbaf5d39b5bf185147639105218e13ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abbaf5d39b5bf185147639105218e13ef">&#9670;&nbsp;</a></span>order_corners()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.order_corners </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>corners</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad6424303731ab448dd3172cb0d9fde7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6424303731ab448dd3172cb0d9fde7b">&#9670;&nbsp;</a></span>plot_side_images()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.plot_side_images </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>side_images</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>inout</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac410e17f31d4fce91e19436682f13aa2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac410e17f31d4fce91e19436682f13aa2">&#9670;&nbsp;</a></span>prune_lines_by_voting()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.prune_lines_by_voting </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>lines</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>angle_threshold</em> = <code>5</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a169b27e309e92094b1d5249ff53acfd9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a169b27e309e92094b1d5249ff53acfd9">&#9670;&nbsp;</a></span>rotate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.rotate </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>degrees</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Rotate an image by the amount specified in degrees
+</pre> 
+</div>
+</div>
+<a id="a8979ba1d83427575ad94e4e1350c61b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8979ba1d83427575ad94e4e1350c61b9">&#9670;&nbsp;</a></span>shape_classification()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.shape_classification </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>edges</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>line_params</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>d_threshold</em> = <code>500</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>n_hs</em> = <code>10</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acc5798ece38fbdd15e907ab9179d82f3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acc5798ece38fbdd15e907ab9179d82f3">&#9670;&nbsp;</a></span>sideExtractor()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">def puzzle.utils.sideExtractor.sideExtractor </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>puzzleTemplate</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">**&#160;</td>
+          <td class="paramname"><em>kwargs</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Unsure what does. </p>
+<p>No documentation. PAV - 2023/11/13.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">puzzleTemplate</td><td>Puzzle piece template instance. </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">OTHERS.</td><td>WHO KNOWS. </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</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
+</small></address>
+</body>
+</html>
diff --git a/docs/namespacepuzzle_1_1utils_1_1simProcessing.html b/docs/namespacepuzzle_1_1utils_1_1simProcessing.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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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: puzzle.utils.simProcessing Namespace 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>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">IVALab Python Libraries
+   </div>
+   <div id="projectbrief">Collection of code for computer vision and robotics with specific API.</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.17 -->
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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+});
+/* @license-end */</script>
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+        name="MSearchResults" id="MSearchResults">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacepuzzle.html">puzzle</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils.html">utils</a></li><li class="navelem"><a class="el" href="namespacepuzzle_1_1utils_1_1simProcessing.html">simProcessing</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle">
+<div class="title">puzzle.utils.simProcessing Namespace Reference</div>  </div>
+</div><!--header-->
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+          <td class="memname">def puzzle.utils.simProcessing.setHand </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>init_agent_loc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>fsize</em> = <code>1</code>&#160;</td>
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+<pre class="fragment">@brief  Set up the hand appearance
+
+Args:
+    init_agent_loc: The initial location.
+    fsize: The scale of the hand image.
+
+Returns:
+    theHand: A hand instance.
+</pre> 
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 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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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 id="projectname">Testing of IVALab Python Libraries
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+   <div id="projectbrief">Collection of test code for IVALab Python Libraries.</div>
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 <div class="textblock"><p>Code to test editor scheme with Commentary instances under hard coded loop. </p>
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 </p>
-<p>In this case, the outputs are indeed printable and the output should be the same as <code>editor01simple</code>.</p>
+<p>In this case, the outputs are indeed printable and the output should be similar to <code>editor01simple</code> but in a CSV file and with some timing information.</p>
 <p>The code below</p>
 <blockquote class="doxtable">
 <p>./editor04csv.py </p>
 </blockquote>
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+<p>runs the script. The output is text trial number and timing information. The running times are pre-specified floats, while the trial termination time does us actual timing. <br  />
+ </p>
 </div></div><!-- contents -->
 <!-- start footer part -->
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 <a href="#details">More...</a></p>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Code to test editor scheme with Commentary instances under hard coded loop. </p>
-<p>Builds on <code>editor01simple</code> by replacing the Announcements with Commentary, such that the Commentary instances have no signal2text function pointer (set to None). In doing so, the Commentary instance is implicitly told to pass along the internal commentary as the message. The commentary can be binary data and not necessarily printable.</p>
+<p>Builds on <code>editor01simple</code> by replacing the Announcements with Commentary, such that the Commentary instances have no signal2text function pointer (set to None). In doing so, the Commentary instance is implicitly told to pass along the internal commentary as the message. The commentary can be binary data and not necessarily printable. <br  />
+</p>
 <p>In this case, the outputs are indeed printable and the output should be similar to <code>editor01simple</code> but in a CSV file and with some timing information.</p>
 <p>The code below</p>
 <blockquote class="doxtable">
 <p>./editor05sv.py </p>
 </blockquote>
-<p>runs the script. The output is text trial number and timing information. The running times are pre-specified floats, while the trial termination time does us actual timing. </p>
+<p>runs the script. The output is text trial number and timing information. The running times are pre-specified floats, while the trial termination time does us actual timing. <br  />
+ </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">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
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 <script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
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@@ -72,21 +75,24 @@
 <a href="#details">More...</a></p>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <div class="textblock"><p>Code that generates an test editor scheme compatible with the UCF puzzle placing pilot study. </p>
-<p>This script builds on <code>editor05csv</code> and creates output more inline with what the UCF Pilot Study 01 should be generating. The differences involve prettying up with header and related content. Possibly also adding output involving the puzzle board area and puzzle solution area, which can be used to test out puzzle completion, or if a puzzle piece was moved but not actually fit into the puzzle (the presumption here being that it gets left somewhere that would not affect the puzzle solution area.</p>
+<p>This script builds on <code>editor05csv</code> and creates output more inline with what the UCF Pilot Study 01 should be generating. The differences involve prettying up with header and related content. Possibly also adding output involving the puzzle board area and puzzle solution area, which can be used to test out puzzle completion, or if a puzzle piece was moved but not actually fit into the puzzle (the presumption here being that it gets left somewhere that would not affect the puzzle solution area. <br  />
+</p>
 <p>TODO: Last sentence above should be confirmed.</p>
 <p>The code below</p>
 <blockquote class="doxtable">
 <p>./editor06pilot.py </p>
 </blockquote>
-<p>runs the script.</p>
-<p>The output is text trial number, puzzle pieces, and timing information. The running times are pre-specified floats, while the trial termination time does us actual timing.</p>
+<p>runs the script. <br  />
+</p>
+<p>The output is text trial number, puzzle pieces, and timing information. The running times are pre-specified floats, while the trial termination time does us actual timing. <br  />
+</p>
 <p>TODO: revise above when script is done. </p>
 </div></div><!-- contents -->
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+<tr id="row_1_0_1_4_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="editor05csv_8py.html" target="_self">editor05csv.py</a></td><td class="desc">Code to test editor scheme with Commentary instances under hard coded loop </td></tr>
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diff --git a/docs/tests/group__TestDetector.html b/docs/tests/group__TestDetector.html
index 70e407f8..c57502dc 100644
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 <tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:image09__targetMagenta_8py"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test the Magenta foreground target detector. <br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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index a04c4202..3981aa04 100644
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+++ b/docs/tests/image09__targetMagenta_8py.html
@@ -67,10 +67,17 @@
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 <div class="header">
   <div class="headertitle">
-<div class="title">image09_targetMagenta.py File Reference</div>  </div>
+<div class="title">image09_targetMagenta.py File Reference<div class="ingroups"><a class="el" href="group__TestDetector.html">Detector</a></div></div>  </div>
 </div><!--header-->
 <div class="contents">
-</div><!-- contents -->
+
+<p>Test the Magenta foreground target detector.  
+<a href="#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Test the Magenta foreground target detector. </p>
+<dl class="section author"><dt>Author</dt><dd>Yiye Chen <a href="#" onclick="location.href='mai'+'lto:'+'yyc'+'he'+'n20'+'19'+'@ga'+'te'+'ch.'+'ed'+'u'; return false;">yyche<span style="display: none;">.nosp@m.</span>n201<span style="display: none;">.nosp@m.</span>9@gat<span style="display: none;">.nosp@m.</span>ech.<span style="display: none;">.nosp@m.</span>edu</a> </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021/07/16 </dd></dl>
+</div></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
 Generated by &#160;<a href="http://www.doxygen.org/index.html">
diff --git a/docs/tests/occupancy01basics_8py.html b/docs/tests/occupancy01basics_8py.html
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+<meta name="generator" content="Doxygen 1.8.17"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Testing of IVALab Python Libraries: /home/mary/python/detector/testing/activity/byRegion/occupancy01basics.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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+   <div id="projectbrief">Collection of test code for IVALab Python Libraries.</div>
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+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.17 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">occupancy01basics.py File Reference<div class="ingroups"><a class="el" href="group__TestDetector.html">Detector</a> &raquo; <a class="el" href="group__TestDet__Activity.html">Activity Detection</a></div></div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>Test basic imageRegions activity region specification.  
+<a href="#details">More...</a></p>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Test basic imageRegions activity region specification. </p>
+<p><br  />
+ </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>
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+</div></div><!-- contents -->
+<!-- start footer part -->
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index 61ef02de..4018d2e1 100644
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+  ['ivapylibs_20_5bunit_5d_20test_20scripts_25',['IVAPyLibs [Unit] Test Scripts',['../index.html',1,'']]],
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diff --git a/docs/tests/search/all_6.js b/docs/tests/search/all_6.js
index dac5e482..0ea52383 100644
--- a/docs/tests/search/all_6.js
+++ b/docs/tests/search/all_6.js
@@ -1,6 +1,6 @@
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+  ['move01basic_2epy_30',['move01basic.py',['../move01basic_8py.html',1,'']]],
+  ['move02filter_2epy_31',['move02filter.py',['../move02filter_8py.html',1,'']]],
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diff --git a/docs/tests/search/all_7.js b/docs/tests/search/all_7.js
index a98a5b23..43b83f71 100644
--- a/docs/tests/search/all_7.js
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@@ -1,5 +1,5 @@
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+  ['opencv_20implementation_20tests_33',['OpenCV Implementation Tests',['../md__home_mary_python_detector_testing_testing.html',1,'']]],
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diff --git a/docs/tests/search/all_8.js b/docs/tests/search/all_8.js
index 65556ed0..094c427d 100644
--- a/docs/tests/search/all_8.js
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@@ -1,5 +1,5 @@
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+  ['perceiver_35',['Perceiver',['../group__TestPerceiver.html',1,'']]],
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diff --git a/docs/tests/search/all_9.js b/docs/tests/search/all_9.js
index a1ca3c72..ff65ac69 100644
--- a/docs/tests/search/all_9.js
+++ b/docs/tests/search/all_9.js
@@ -1,8 +1,8 @@
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+  ['report03float_2epy_40',['report03float.py',['../report03float_8py.html',1,'']]],
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diff --git a/docs/tests/search/all_a.js b/docs/tests/search/all_a.js
index 92cdccdb..7317f13f 100644
--- a/docs/tests/search/all_a.js
+++ b/docs/tests/search/all_a.js
@@ -1,9 +1,9 @@
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+  ['single_20gaussian_20depth_20image_20modeling_2e_42',['Single Gaussian depth image modeling.',['../md__home_mary_python_detector_testing_bgmodel_CONTENTS.html',1,'']]],
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+  ['simple02magentadot_2epy_46',['simple02magentadot.py',['../simple02magentadot_8py.html',1,'']]],
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diff --git a/docs/tests/search/all_b.js b/docs/tests/search/all_b.js
index 4a241881..bdffc516 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/files_0.js b/docs/tests/search/files_0.js
index 2372ed50..8c701162 100644
--- a/docs/tests/search/files_0.js
+++ b/docs/tests/search/files_0.js
@@ -1,5 +1,5 @@
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+  ['activity01regions_2epy_49',['activity01regions.py',['../activity01regions_8py.html',1,'']]],
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diff --git a/docs/tests/search/files_1.js b/docs/tests/search/files_1.js
index c2c8f397..10daae22 100644
--- a/docs/tests/search/files_1.js
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@@ -1,5 +1,5 @@
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+  ['bg01_5feva_2epy_51',['bg01_Eva.py',['../bg01__Eva_8py.html',1,'']]],
+  ['bg02_5fcvgmm_2epy_52',['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 76074849..64764ade 100644
--- a/docs/tests/search/files_2.js
+++ b/docs/tests/search/files_2.js
@@ -1,7 +1,9 @@
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-  ['editor04csv_2epy_54',['editor04csv.py',['../editor04csv_8py.html',1,'']]]
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+  ['editor04csv_2epy_56',['editor04csv.py',['../editor04csv_8py.html',1,'']]],
+  ['editor05csv_2epy_57',['editor05csv.py',['../editor05csv_8py.html',1,'']]],
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diff --git a/docs/tests/search/files_3.js b/docs/tests/search/files_3.js
index 1c172798..d336232a 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 e6136bfb..6def6285 100644
--- a/docs/tests/search/files_4.js
+++ b/docs/tests/search/files_4.js
@@ -1,16 +1,16 @@
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+  ['image09_5ftargetmagenta_2epy_69',['image09_targetMagenta.py',['../image09__targetMagenta_8py.html',1,'']]],
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+  ['inimage02sketchpoly_2epy_71',['inimage02sketchpoly.py',['../inimage02sketchpoly_8py.html',1,'']]],
+  ['inimage03saveload_2epy_72',['inimage03saveload.py',['../inimage03saveload_8py.html',1,'']]],
+  ['inimage04calibrate_2epy_73',['inimage04calibrate.py',['../inimage04calibrate_8py.html',1,'']]]
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diff --git a/docs/tests/search/files_5.js b/docs/tests/search/files_5.js
index c08062d3..be51d665 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_72',['move03filter.py',['../move03filter_8py.html',1,'']]]
+  ['move01basic_2epy_74',['move01basic.py',['../move01basic_8py.html',1,'']]],
+  ['move02filter_2epy_75',['move02filter.py',['../move02filter_8py.html',1,'']]],
+  ['move03filter_2epy_76',['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 ac86a111..c06cbf9d 100644
--- a/docs/tests/search/files_6.js
+++ b/docs/tests/search/files_6.js
@@ -1,4 +1,4 @@
 var searchData=
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+  ['occupancy01basics_2epy_77',['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 ad8edfd5..646ffa47 100644
--- a/docs/tests/search/files_7.js
+++ b/docs/tests/search/files_7.js
@@ -1,8 +1,8 @@
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diff --git a/docs/tests/search/files_8.html b/docs/tests/search/files_8.html
new file mode 100644
index 00000000..fa1a27f7
--- /dev/null
+++ b/docs/tests/search/files_8.html
@@ -0,0 +1,30 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html><head><title></title>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta name="generator" content="Doxygen 1.8.17"/>
+<link rel="stylesheet" type="text/css" href="search.css"/>
+<script type="text/javascript" src="files_8.js"></script>
+<script type="text/javascript" src="search.js"></script>
+</head>
+<body class="SRPage">
+<div id="SRIndex">
+<div class="SRStatus" id="Loading">Loading...</div>
+<div id="SRResults"></div>
+<script type="text/javascript"><!--
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+createResults();
+/* @license-end */
+--></script>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+<script type="text/javascript"><!--
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+document.getElementById("NoMatches").style.display="none";
+var searchResults = new SearchResults("searchResults");
+searchResults.Search();
+/* @license-end */
+--></script>
+</div>
+</body>
+</html>
diff --git a/docs/tests/search/files_8.js b/docs/tests/search/files_8.js
new file mode 100644
index 00000000..fd735a6c
--- /dev/null
+++ b/docs/tests/search/files_8.js
@@ -0,0 +1,8 @@
+var searchData=
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+  ['sgm04hsv_2epy_84',['sgm04hsv.py',['../sgm04hsv_8py.html',1,'']]],
+  ['simple01graybox_2epy_85',['simple01graybox.py',['../simple01graybox_8py.html',1,'']]],
+  ['simple02magentadot_2epy_86',['simple02magentadot.py',['../simple02magentadot_8py.html',1,'']]],
+  ['simple03magentabag_2epy_87',['simple03magentabag.py',['../simple03magentabag_8py.html',1,'']]]
+];
diff --git a/docs/tests/search/groups_0.js b/docs/tests/search/groups_0.js
index ea113b2b..8b6256e3 100644
--- a/docs/tests/search/groups_0.js
+++ b/docs/tests/search/groups_0.js
@@ -1,5 +1,5 @@
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-  ['activity_20monitor_85',['Activity Monitor',['../group__TestMonitor.html',1,'']]]
+  ['activity_20detection_88',['Activity Detection',['../group__TestDet__Activity.html',1,'']]],
+  ['activity_20monitor_89',['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 291c0697..1d34812b 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_90',['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 a13c3dba..61a5a11d 100644
--- a/docs/tests/search/groups_2.js
+++ b/docs/tests/search/groups_2.js
@@ -1,5 +1,5 @@
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-  ['progress_20monitor_88',['Progress Monitor',['../group__TestProgress.html',1,'']]]
+  ['perceiver_91',['Perceiver',['../group__TestPerceiver.html',1,'']]],
+  ['progress_20monitor_92',['Progress Monitor',['../group__TestProgress.html',1,'']]]
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diff --git a/docs/tests/search/pages_0.js b/docs/tests/search/pages_0.js
index 2f7306c9..4cc913eb 100644
--- a/docs/tests/search/pages_0.js
+++ b/docs/tests/search/pages_0.js
@@ -1,4 +1,4 @@
 var searchData=
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+  ['generic_20code_20to_20confirm_20implementation_93',['Generic Code to Confirm Implementation',['../md__home_mary_python_detector_testing_fgmodel_CONTENTS.html',1,'']]]
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diff --git a/docs/tests/search/pages_1.js b/docs/tests/search/pages_1.js
index ab0ef0ae..953b2a44 100644
--- a/docs/tests/search/pages_1.js
+++ b/docs/tests/search/pages_1.js
@@ -1,4 +1,4 @@
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