From f83b6c4b77ebdd10b1cf4ec55d520e0fe29395e0 Mon Sep 17 00:00:00 2001
From: "Patricio A. Vela" <pvela@gatech.edu>
Date: Sat, 24 Feb 2024 21:31:24 -0500
Subject: [PATCH] Redoing docs.

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diff --git a/docs/classbyMotion_1_1MoveState__inherit__graph.map b/docs/classbyMotion_1_1MoveState__inherit__graph.map
index 34fd0853..b14de9aa 100644
--- a/docs/classbyMotion_1_1MoveState__inherit__graph.map
+++ b/docs/classbyMotion_1_1MoveState__inherit__graph.map
@@ -1,4 +1,4 @@
 <map id="MoveState" name="MoveState">
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+<area shape="rect" id="node1" title=" " alt="" coords="5,80,91,107"/>
+<area shape="rect" id="node2" title=" " alt="" coords="20,5,76,32"/>
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diff --git a/docs/classbyMotion_1_1MoveState__inherit__graph.png b/docs/classbyMotion_1_1MoveState__inherit__graph.png
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diff --git a/docs/classbyMotion_1_1detector__inherit__graph.map b/docs/classbyMotion_1_1detector__inherit__graph.map
index fe0d95b1..b1c89ab0 100644
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@@ -1,4 +1,4 @@
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-<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1CfgInCorner.html#a418793636fd792a2b17e86fc767ccb78">CfgInCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGCone.html#a418793636fd792a2b17e86fc767ccb78">CfgSGCone</a>, <a class="el" href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgPerceiver</a>, <a class="el" href="classperceiver_1_1simple_1_1BuildCfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgPerceiver</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1CfgGMM__cv.html#a418793636fd792a2b17e86fc767ccb78">CfgGMM_cv</a>, <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1CfgSGT.html#a418793636fd792a2b17e86fc767ccb78">CfgSGT</a>, <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a418793636fd792a2b17e86fc767ccb78">CfgCentMulti</a>, <a class="el" href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPerceiver</a>, <a class="el" href="classperceiver_1_1simple_1_1CfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPerceiver</a>, <a class="el" href="classbyMotion_1_1CfgMoving.html#a418793636fd792a2b17e86fc767ccb78">CfgMoving</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html#a418793636fd792a2b17e86fc767ccb78">CfgSGM</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1CfgOnWS.html#a418793636fd792a2b17e86fc767ccb78">CfgOnWS</a>.</p>
+<p>Reimplemented in <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1CfgInCorner.html#a418793636fd792a2b17e86fc767ccb78">CfgInCorner</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGCone.html#a418793636fd792a2b17e86fc767ccb78">CfgSGCone</a>, <a class="el" href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgPerceiver</a>, <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1CfgGMM__cv.html#a418793636fd792a2b17e86fc767ccb78">CfgGMM_cv</a>, <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>, <a class="el" href="classdetector_1_1fgmodel_1_1Gaussian_1_1CfgSGT.html#a418793636fd792a2b17e86fc767ccb78">CfgSGT</a>, <a class="el" href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPerceiver</a>, <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a418793636fd792a2b17e86fc767ccb78">CfgCentMulti</a>, <a class="el" href="classbyMotion_1_1CfgMoving.html#a418793636fd792a2b17e86fc767ccb78">CfgMoving</a>, <a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1CfgSGM.html#a418793636fd792a2b17e86fc767ccb78">CfgSGM</a>, and <a class="el" href="classdetector_1_1bgmodel_1_1onWorkspace_1_1CfgOnWS.html#a418793636fd792a2b17e86fc767ccb78">CfgOnWS</a>.</p>
 
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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:a4dd85ce87569585c592b0dd0638c0dfd inherit pub_methods_classdetector_1_1base_1_1Base"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<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="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:a0c75081f1d6b168fd54caef3a8db3fff"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdetector_1_1bgmodel_1_1bgmodelGMM_1_1bgmodelGMM.html#a0c75081f1d6b168fd54caef3a8db3fff">doAdapt</a></td></tr>
-<tr class="separator:a0c75081f1d6b168fd54caef3a8db3fff"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a08e01bf2c9fbaf809ada208475ef5a25"><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>
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-<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="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>
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-<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>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><pre class="fragment">@ingroup    Detector
-@brief      Gaussian mixture background model.
-
-Implements a background modeling foreground detector using a Gaussian 
-mixture model.  This model involves two parts, one is an estimator,
-and the other is a change detector.  The estimator is a static 
-prediction observer on the mean and variance with fixed udpate gains.  
-The change detector is threshold-based.  Estimate corrections rely
-on the change detector.
-
-Inputs:
-  mu          - the means of the Gaussian models.
-  sigma       - the variance of the Gaussian models.
-  weights     - the weights of the Gaussian models.
-  parms       - [optional] structure with parameters specified.
-
-Fields of the parms structure:
-  sigma       - Initial variance to use if sigma is empty.
-  thresh      - Threshold for determining foreground.
-  alpha       - Update rate for mean and variance.
-  rho         - Update rate for weights.
-  cnctd_thrsh - Connected component threshold size for false blob removal.
-  se3           - structuring element for morphological operations. 
-  improcessor - Image processor interface object for performing
-                  pre-, mid-, and post-processing of signal.
-
-@note
-    A note on the improcessor.  If the basic version is used, then
-    it performs pre-processing. If a triple version is used, then
-    the mid-processor will perform operations on the detected part
-    rather than the default operations.  The mid-processor can be used
-    to test out different options for cleaning up the binary data.
-
-@note Translation of ivaMatlib/bgmodelGMM
-</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a17a803a7fa557124279425b2169d0039"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a17a803a7fa557124279425b2169d0039">&#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>K</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">
-
-</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">
-<pre class="fragment">Create new model
-</pre> 
-<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>.</p>
-
-</div>
-</div>
-<a id="a32f4a8bda364b630d338823498bcedd8"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a32f4a8bda364b630d338823498bcedd8">&#9670;&nbsp;</a></span>compProbs()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def compProbs </td>
-          <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="a3da1e63829558823ff87a28b1c735063"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3da1e63829558823ff87a28b1c735063">&#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>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>fg</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<pre class="fragment">Update the existing model parameters
-</pre> 
-</div>
-</div>
-<a id="a5f6b0074e32a9b923e5945c174da797d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a5f6b0074e32a9b923e5945c174da797d">&#9670;&nbsp;</a></span>detectFG()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def detectFG </td>
-          <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">Apply post-process to the fg mask?
-</pre> 
-</div>
-</div>
-<a id="a4946ea6f0c4972df34d36a024788a5a3"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4946ea6f0c4972df34d36a024788a5a3">&#9670;&nbsp;</a></span>get()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def get </td>
-          <td>(</td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>self</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>fname</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-
-</div>
-</div>
-<a id="abc16b4867d126e1057d7ae45efd7eec2"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#abc16b4867d126e1057d7ae45efd7eec2">&#9670;&nbsp;</a></span>getForeground()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def getForeground </td>
-          <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 current foreground estimate
-</pre> 
-</div>
-</div>
-<a id="af40452cf3bd3a0d572546e7b64d0cff3"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af40452cf3bd3a0d572546e7b64d0cff3">&#9670;&nbsp;</a></span>getProbs()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def getProbs </td>
-          <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 current probability and the generating model
-</pre> 
-</div>
-</div>
-<a id="a1a25f4a5ddde2951af83536b353efbe5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a1a25f4a5ddde2951af83536b353efbe5">&#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">
-
-</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">Apply the GMM and get the fgI mask
-</pre> 
-<p>Reimplemented from <a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">inImage</a>.</p>
-
-</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>signal</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-
-<p>Process the new incoming signal on full detection pipeline. </p>
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-
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-<div class="title">bgmodelGMM_cv Member List</div>  </div>
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-<p>This is the complete list of members for <a class="el" href="classdetector_1_1bgmodel_1_1bgmodelGMM_1_1bgmodelGMM__cv.html">bgmodelGMM_cv</a>, including all inherited members.</p>
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-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><pre class="fragment">GMM Background Substraction method MOG2 based on the OpenCV.
-Include shadow detection feature.
-
-The detection algorithm will first use the GMM to detect a potential
-foreground mask, each pixel of which will be checked for the color
-distort and the intensity decay. 
-</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
-<a id="a8b87fafbb9334b7e4fd7ed3e36eaf694"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a8b87fafbb9334b7e4fd7ed3e36eaf694">&#9670;&nbsp;</a></span>__init__()</h2>
-
-<div class="memitem">
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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"><a class="el" href="classdetector_1_1bgmodel_1_1bgmodelGMM_1_1Params__cv.html">Params_cv</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="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">
-<pre class="fragment">Create new model
-</pre> 
-<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#a72fbf2f30085967560d93851fdf9fe6b">Base</a>.</p>
-
-</div>
-</div>
-<a id="a3da1e63829558823ff87a28b1c735063"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a3da1e63829558823ff87a28b1c735063">&#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>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>fg</em>&#160;</td>
-        </tr>
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-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
-      </table>
-</div><div class="memdoc">
-<pre class="fragment">Update the existing model parameters
-</pre> 
-</div>
-</div>
-<a id="a5f6b0074e32a9b923e5945c174da797d"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a5f6b0074e32a9b923e5945c174da797d">&#9670;&nbsp;</a></span>detectFG()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def detectFG </td>
-          <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">Apply post-process to the fg mask?
-</pre> 
-</div>
-</div>
-<a id="a4946ea6f0c4972df34d36a024788a5a3"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a4946ea6f0c4972df34d36a024788a5a3">&#9670;&nbsp;</a></span>get()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def get </td>
-          <td>(</td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>self</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>fname</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
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-      </table>
-</div><div class="memdoc">
-<pre class="fragment">Check the following link for what you can set:
-https://docs.opencv.org/3.4/d7/d7b/classcv_1_1BackgroundSubtractorMOG2.html#acdb85152b349d70561fecc4554ad76e6
-
-@param[in]  fname           The name of the parameter to set. will invoke set+fname for the opencv MOG2
-
-example:
-
-det = bgmodelGMM_cv()
-det.get(History)   # will invode getHistory() function from the link
-</pre> 
-</div>
-</div>
-<a id="aeeb76ceb09c66713017f6d99e45bc4c4"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aeeb76ceb09c66713017f6d99e45bc4c4">&#9670;&nbsp;</a></span>getBackground()</h2>
-
-<div class="memitem">
-<div class="memproto">
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-          <td>(</td>
-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>self</em></td><td>)</td>
-          <td></td>
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-<pre class="fragment">Get the current background mask
-</pre> 
-</div>
-</div>
-<a id="aaf53778281ffca14166f4b071fb2d5e6"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aaf53778281ffca14166f4b071fb2d5e6">&#9670;&nbsp;</a></span>getBackgroundImg()</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><td>)</td>
-          <td></td>
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-<pre class="fragment">Get the background image in RGB, based on the background GMM model.
-The image will be the weighted mean of the Gaussians' means, according to the source code:
-https://github.com/opencv/opencv/blob/master/modules/video/src/bgfg_gaussmix2.cpp#L887-L927
-
-Returns:
-    bgImg (H, W, 3):    The background image in RGB
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-</div>
-</div>
-<a id="a9545bfe2169cde6b9772c3bb03c37005"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a9545bfe2169cde6b9772c3bb03c37005">&#9670;&nbsp;</a></span>getDetectResult()</h2>
-
-<div class="memitem">
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-      <table class="memname">
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-          <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">
-<pre class="fragment">Get the detection result, including the foreground and the shadow
-The foreground pixels' value will be 255, wherease the shadow pixels' will be 127. So the shadows will look like shadow(darker)
-</pre> 
-</div>
-</div>
-<a id="abc16b4867d126e1057d7ae45efd7eec2"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#abc16b4867d126e1057d7ae45efd7eec2">&#9670;&nbsp;</a></span>getForeground()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
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-          <td class="paramtype">&#160;</td>
-          <td class="paramname"><em>self</em></td><td>)</td>
-          <td></td>
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-<pre class="fragment">Get the current foreground estimate
-</pre> 
-</div>
-</div>
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-
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-          <td class="paramtype">&#160;</td>
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-          <td></td>
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-<pre class="fragment">Get the current probability and the generating model
-</pre> 
-</div>
-</div>
-<a id="a1532059686d1cf8f090507dc1d9d7eac"></a>
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-
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-      <table class="memname">
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-<pre class="fragment">Get the detected shadow mask
-</pre> 
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1a25f4a5ddde2951af83536b353efbe5">&#9670;&nbsp;</a></span>getstate()</h2>
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-          <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">
-      <table class="memname">
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-          <td>(</td>
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-          <td class="paramname"><em>self</em>, </td>
-        </tr>
-        <tr>
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-<pre class="fragment">Apply the GMM and get the fgI mask
-</pre> 
-<p>Reimplemented from <a class="el" href="classdetector_1_1inImage_1_1inImage.html#ad17eaba369e442d6a16fa52f3cb41762">inImage</a>.</p>
-
-</div>
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-          <td>(</td>
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-        </tr>
-        <tr>
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-</div><div class="memdoc">
-
-<p>Process the new incoming signal on full detection pipeline. </p>
-<p>Running the full detection pipeline includes adaptation. </p>
-
-<p>Reimplemented from <a class="el" href="classdetector_1_1base_1_1Base.html#ac0e04a6d0292eed0154740ef0ed44772">Base</a>.</p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6d6cfe637269a3be394964d5b1462edd">&#9670;&nbsp;</a></span>set()</h2>
-
-<div class="memitem">
-<div class="memproto">
-      <table class="memname">
-        <tr>
-          <td class="memname">def set </td>
-          <td>(</td>
-          <td class="paramtype">&#160;</td>
-          <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>
-          <td class="paramname"><em>fval</em>&#160;</td>
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-</div><div class="memdoc">
-<pre class="fragment">Check the following link for what you can set:
-https://docs.opencv.org/3.4/d7/d7b/classcv_1_1BackgroundSubtractorMOG2.html#acdb85152b349d70561fecc4554ad76e6
-
-@param[in]  fname           The name of the parameter to set. will invoke set+fname for the opencv MOG2
-@param[in]  fval            The value to set
-
-example:
-
-det = bgmodelGMM_cv()
-det.set(History, 200)   # will invode setHistory(200) function from the link
-</pre> 
-</div>
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diff --git a/docs/classdetector_1_1fgmodel_1_1Gaussian_1_1CfgSGT__coll__graph.map b/docs/classdetector_1_1fgmodel_1_1Gaussian_1_1CfgSGT__coll__graph.map
index 401612a1..0b71b32d 100644
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index 401612a1..0b71b32d 100644
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index 0a62bd22..48f94e79 100644
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diff --git a/docs/classpaths_1_1CfgPiecewiseLines__inherit__graph.map b/docs/classpaths_1_1CfgPiecewiseLines__inherit__graph.map
deleted file mode 100644
index a4b61cf8..00000000
--- a/docs/classpaths_1_1CfgPiecewiseLines__inherit__graph.map
+++ /dev/null
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diff --git a/docs/classpaths_1_1CfgPiecewiseLines__inherit__graph.md5 b/docs/classpaths_1_1CfgPiecewiseLines__inherit__graph.md5
deleted file mode 100644
index 5af33f54..00000000
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diff --git a/docs/classperceiver_1_1monitor_1_1Monitor__inherit__graph.map b/docs/classperceiver_1_1monitor_1_1Monitor__inherit__graph.map
index 5f4957d1..bce09fac 100644
--- a/docs/classperceiver_1_1monitor_1_1Monitor__inherit__graph.map
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diff --git a/docs/classperceiver_1_1monitor_1_1Monitor__inherit__graph.png b/docs/classperceiver_1_1monitor_1_1Monitor__inherit__graph.png
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diff --git a/docs/classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html b/docs/classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html
index 408aef69..ba608a8e 100644
--- a/docs/classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html
+++ b/docs/classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html
@@ -71,11 +71,12 @@
 <a href="#pub-static-methods">Static Public Member Functions</a> &#124;
 <a href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver-members.html">List of all members</a>  </div>
   <div class="headertitle">
-<div class="title">BuildCfgPerceiver Class Reference</div>  </div>
+<div class="title">BuildCfgPerceiver Class Reference<div class="ingroups"><a class="el" href="group__Perceiver.html">Perceiver</a></div></div>  </div>
 </div><!--header-->
 <div class="contents">
 
-<p>Build configuration instance for a perceiver.  
+<p>Build configuration instance for a perceiver. <br  />
+  
  <a href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html#details">More...</a></p>
 <div class="dynheader">
 Inheritance diagram for BuildCfgPerceiver:</div>
@@ -110,12 +111,12 @@
 <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="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">get_default_settings</a> ()</td></tr>
+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get default configuration settings for <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> builder.  <a href="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.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>Build configuration instance for a perceiver. </p>
-<p><br  />
-</p>
+<div class="textblock"><p>Build configuration instance for a perceiver. <br  />
+ </p>
 <p>Instantiating a perceiver usually requires the detector, tracker, and filter instances to be complete. These need to be defined. So do any other settings should be specific to how the perceiver will operate or what to do with the processed information, which will lie in the perceiver config field. </p>
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 </table>
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+<p>Get default configuration settings for <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> builder. </p>
+
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
diff --git a/docs/classperceiver_1_1perceiver_1_1CfgPerceiver.html b/docs/classperceiver_1_1perceiver_1_1CfgPerceiver.html
index 94136645..36f7791b 100644
--- a/docs/classperceiver_1_1perceiver_1_1CfgPerceiver.html
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 <a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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   <div class="headertitle">
-<div class="title">CfgPerceiver Class Reference</div>  </div>
+<div class="title">CfgPerceiver Class Reference<div class="ingroups"><a class="el" href="group__Perceiver.html">Perceiver</a></div></div>  </div>
 </div><!--header-->
 <div class="contents">
 
-<p>Configuration instance for a perceiver.  
+<p>Configuration instance for a perceiver. <br  />
+  
  <a href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#details">More...</a></p>
 <div class="dynheader">
 Inheritance diagram for CfgPerceiver:</div>
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 Static Public Member Functions</h2></td></tr>
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+<tr class="memdesc:a2a49d49fc8fc3be34d358f8a4a0e75be"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get default configuration settings for <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>.  <a href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">More...</a><br /></td></tr>
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 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Configuration instance for a perceiver. </p>
-<p><br  />
-</p>
+<div class="textblock"><p>Configuration instance for a perceiver. <br  />
+ </p>
 <p>Instantiating a perceiver usually requires the detector, tracker, and filter instances to be complete. Thus any other settings should be specific to how the perceiver will operate or what to do with the processed information. </p>
 </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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 </table>
 </div><div class="memdoc">
 
+<p>Get default configuration settings for <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>. </p>
+
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>
diff --git a/docs/classperceiver_1_1perceiver_1_1Perceiver.html b/docs/classperceiver_1_1perceiver_1_1Perceiver.html
index d0b17f60..f546750a 100644
--- a/docs/classperceiver_1_1perceiver_1_1Perceiver.html
+++ b/docs/classperceiver_1_1perceiver_1_1Perceiver.html
@@ -76,14 +76,14 @@
 </div><!--header-->
 <div class="contents">
 
-<p>Simple perceiver class. Most basic implementation.  
+<p>Basic implementation of a perceiver class.  
  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#details">More...</a></p>
 <div class="dynheader">
 Inheritance diagram for Perceiver:</div>
 <div class="dyncontent">
 <div class="center"><img src="classperceiver_1_1perceiver_1_1Perceiver__inherit__graph.png" border="0" usemap="#Perceiver_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title="Basic implementation of a perceiver class." alt="" coords="5,80,83,107"/>
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+<area shape="rect" title="Basic implementation of a perceiver class." alt="" coords="5,80,83,107"/>
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@@ -100,15 +100,19 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
 Public Member Functions</h2></td></tr>
 <tr class="memitem:a0f87215b58464db4a421a62dc72a04f6"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a0f87215b58464db4a421a62dc72a04f6">__init__</a> (self, theParams, theDetector, theTracker, trackFilter)</td></tr>
-<tr class="memdesc:a0f87215b58464db4a421a62dc72a04f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Simple perceiver class. Most basic implementation.">Perceiver</a> class.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a0f87215b58464db4a421a62dc72a04f6">More...</a><br /></td></tr>
+<tr class="memdesc:a0f87215b58464db4a421a62dc72a04f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> class.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a0f87215b58464db4a421a62dc72a04f6">More...</a><br /></td></tr>
 <tr class="separator:a0f87215b58464db4a421a62dc72a04f6"><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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">More...</a><br /></td></tr>
 <tr class="separator:ad1017975e2cf3f6aad2eb699e576acfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:adf4237d0bd0be22baa530fa781f1b359"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">displayDebug</a> (self, fh, dbState)</td></tr>
+<tr class="memdesc:adf4237d0bd0be22baa530fa781f1b359"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the debug state of the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">More...</a><br /></td></tr>
 <tr class="separator:adf4237d0bd0be22baa530fa781f1b359"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a4f5850e9f63016eca8e8435966fa75ad"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">displayState</a> (self, dState=None)</td></tr>
+<tr class="memdesc:a4f5850e9f63016eca8e8435966fa75ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Display the current state of the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">More...</a><br /></td></tr>
 <tr class="separator:a4f5850e9f63016eca8e8435966fa75ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 <tr class="memdesc:a9ee90969e62195d66d515fcdaf56bf6a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return state structure with no information.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">More...</a><br /></td></tr>
@@ -128,6 +132,7 @@
 <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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.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="classperceiver_1_1perceiver_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">process</a> (self, <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a66cc12e3c6d68de3fef6de89cf033f67">I</a>)</td></tr>
 <tr class="memdesc:a15b5b23376c42a855847f9b74cdc07b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the tracking pipeline for one step/image measurement.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">More...</a><br /></td></tr>
@@ -142,39 +147,48 @@
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
 Static Public Member Functions</h2></td></tr>
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+<tr class="memdesc:acf83804126cf5cb2ea20d74142fd8f66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fill rigid body display routine.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#acf83804126cf5cb2ea20d74142fd8f66">More...</a><br /></td></tr>
 <tr class="separator:acf83804126cf5cb2ea20d74142fd8f66"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a809398a3ddb18d7d1d4dfe377e4cdd5c"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a809398a3ddb18d7d1d4dfe377e4cdd5c">displaySimple</a> (cstate, dispArgs)</td></tr>
+<tr class="memdesc:a809398a3ddb18d7d1d4dfe377e4cdd5c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Basic rigid body display routine.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a809398a3ddb18d7d1d4dfe377e4cdd5c">More...</a><br /></td></tr>
 <tr class="separator:a809398a3ddb18d7d1d4dfe377e4cdd5c"><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>
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+<tr class="memdesc:a2e2cc69bf023676b0749903f295a507e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The detector instance to use.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a2e2cc69bf023676b0749903f295a507e">More...</a><br /></td></tr>
 <tr class="separator:a2e2cc69bf023676b0749903f295a507e"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a610876e02cee64e29fe4376ffeb6b9b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">The track filter to use.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a610876e02cee64e29fe4376ffeb6b9b9">More...</a><br /></td></tr>
 <tr class="separator:a610876e02cee64e29fe4376ffeb6b9b9"><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="classperceiver_1_1perceiver_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">haveObs</a></td></tr>
-<tr class="memdesc:a88bf86be51ede2d7c2f01f43fd319476"><td class="mdescLeft">&#160;</td><td class="mdescRight">Do we have a state estimate? - e.g.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">More...</a><br /></td></tr>
+<tr class="memdesc:a88bf86be51ede2d7c2f01f43fd319476"><td class="mdescLeft">&#160;</td><td class="mdescRight">Was an observation measured? - e.g.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">More...</a><br /></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="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">haveRun</a></td></tr>
-<tr class="memdesc:aead43b6d6d069fa7308f0fd73166ef79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Was an observation measured? - e.g.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">More...</a><br /></td></tr>
+<tr class="memdesc:aead43b6d6d069fa7308f0fd73166ef79"><td class="mdescLeft">&#160;</td><td class="mdescRight">Has not been run before.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">More...</a><br /></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="classperceiver_1_1perceiver_1_1Perceiver.html#a8d45eb075e342eaee415087ca2aa40f9">haveState</a></td></tr>
-<tr class="memdesc:a8d45eb075e342eaee415087ca2aa40f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Has not been run before.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a8d45eb075e342eaee415087ca2aa40f9">More...</a><br /></td></tr>
+<tr class="memdesc:a8d45eb075e342eaee415087ca2aa40f9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Do we have a state estimate? - e.g.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a8d45eb075e342eaee415087ca2aa40f9">More...</a><br /></td></tr>
 <tr class="separator:a8d45eb075e342eaee415087ca2aa40f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a66cc12e3c6d68de3fef6de89cf033f67"><td class="mdescLeft">&#160;</td><td class="mdescRight">Image passed for processing.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a66cc12e3c6d68de3fef6de89cf033f67">More...</a><br /></td></tr>
 <tr class="separator:a66cc12e3c6d68de3fef6de89cf033f67"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a41000f175dc0115080e2a682cc06dbe9"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> runtime parameters.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a41000f175dc0115080e2a682cc06dbe9">More...</a><br /></td></tr>
 <tr class="separator:a41000f175dc0115080e2a682cc06dbe9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a3fdf85bd1f6d0e70f77ebcc4b46e00d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Track points.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#a3fdf85bd1f6d0e70f77ebcc4b46e00d7">More...</a><br /></td></tr>
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+<tr class="memdesc:abec0b9ee4648af3b77db73e8070f1736"><td class="mdescLeft">&#160;</td><td class="mdescRight">The track pointer to use.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#abec0b9ee4648af3b77db73e8070f1736">More...</a><br /></td></tr>
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 </table>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Simple perceiver class. Most basic implementation. </p>
+<div class="textblock"><p>Basic implementation of a perceiver class. </p>
+<p>A <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> is, at minimum, the combination of a detector and a tracker or track pointer. It indicates where a "target" is in the image both as a region and as a single point or rigid body frame. If there is a way to meaningfully filter the point/frame, then adding a trackFilter will incorporate that operation. </p>
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+<p>Constructor for the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> class. </p>
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+<p>Adapt parts of the process based on measurements and corrections. </p>
+
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+<p>Correct the estimated state based on measured and predicted. </p>
+
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+<p>Display the debug state of the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>. </p>
+
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+<p>Fill rigid body display routine. </p>
+<p>Plots SE(2) frame and marker positions. </p>
+
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+<p>Basic rigid body display routine. </p>
+<p>Plots SE(2) frame. </p>
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+<p>Display the current state of the <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a>. </p>
+
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 <p>Returns the current state structure. </p>
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-  <table class="params">
-    <tr><td class="paramname">cstate</td><td>The current state structure. </td></tr>
-  </table>
-  </dd>
-</dl>
+<dl class="section return"><dt>Returns</dt><dd>The current state structure.</dd></dl>
+<dl class="section note"><dt>Note</dt><dd>May need some corrections due to uncertainty about tMeas. </dd></dl>
 
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+<p>Predict next measurement, if applicable. </p>
+
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+<p>The detector instance to use. </p>
+
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+<p>The track filter to use. </p>
+
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-<p>Do we have a state estimate? - e.g. </p>
-<p>human activity </p>
+<p>Was an observation measured? - e.g. </p>
+<p>detect for tracker </p>
 
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-<p>Was an observation measured? - e.g. </p>
-<p>detect a tracker </p>
+<p>Has not been run before. </p>
 
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-<p>Has not been run before. </p>
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+<p>Image passed for processing. </p>
+
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+<p><a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html" title="Basic implementation of a perceiver class.">Perceiver</a> runtime parameters. </p>
+
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+<p>Track points. </p>
+<p>[from track filter?] </p>
+
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+<p>The track pointer to use. </p>
+
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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/classperceiver_1_1progress_1_1Progress.html b/docs/classperceiver_1_1progress_1_1Progress.html
index b5533266..1a26be0f 100644
--- a/docs/classperceiver_1_1progress_1_1Progress.html
+++ b/docs/classperceiver_1_1progress_1_1Progress.html
@@ -82,8 +82,8 @@
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 </div><div class="memdoc">
 
 <p>Predict next measurement, if applicable. </p>
-<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000015">Todo:</a></b></dt><dd>Is this proper way to conceive of progress monitor predict? </dd></dl>
+<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000016">Todo:</a></b></dt><dd>Is this proper way to conceive of progress monitor predict? </dd></dl>
 
 </div>
 </div>
diff --git a/docs/classperceiver_1_1progress_1_1Progress__coll__graph.map b/docs/classperceiver_1_1progress_1_1Progress__coll__graph.map
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--- a/docs/classperceiver_1_1progress_1_1Progress__coll__graph.map
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index 09c37c14..d038a924 100644
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-<tr class="memitem:af6a258d8f3ee5206d682d799316314b1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1State.html#af6a258d8f3ee5206d682d799316314b1">bool</a></td></tr>
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-<tr class="memitem:a7c4c82e7573d516a6dffe895cc98f613"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classtrackpointer_1_1centroid_1_1State.html#a7c4c82e7573d516a6dffe895cc98f613">ndarray</a></td></tr>
-<tr class="separator:a7c4c82e7573d516a6dffe895cc98f613"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<h2 class="groupheader">Member Data Documentation</h2>
-<a id="af6a258d8f3ee5206d682d799316314b1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#af6a258d8f3ee5206d682d799316314b1">&#9670;&nbsp;</a></span>bool</h2>
-
-<div class="memitem">
-<div class="memproto">
-<table class="mlabels">
-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname">bool</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>
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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/pvela/python/trackpointer/trackpointer/<a class="el" href="centroid_8py.html">centroid.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/functions.html b/docs/functions.html
index 84600798..389a680c 100644
--- a/docs/functions.html
+++ b/docs/functions.html
@@ -146,9 +146,6 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html#a418793636fd792a2b17e86fc767ccb78">CfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a06ac63b21a3c2cfbb0c23f3640549664">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1BuildCfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1CfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a0f87215b58464db4a421a62dc72a04f6">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a7daf16268d7d94c657ed344a7a102a12">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">centroidMulti</a>
diff --git a/docs/functions_a.html b/docs/functions_a.html
index 0b28e747..6742e850 100644
--- a/docs/functions_a.html
+++ b/docs/functions_a.html
@@ -85,7 +85,6 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a72fbf2f30085967560d93851fdf9fe6b">Monitor</a>
 , <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="classperceiver_1_1simple_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">centroid</a>
 </li>
 <li>adapt_rate
diff --git a/docs/functions_b.html b/docs/functions_b.html
index 314b448a..6efacd72 100644
--- a/docs/functions_b.html
+++ b/docs/functions_b.html
@@ -88,7 +88,6 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <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="classperceiver_1_1simple_1_1State.html#af6a258d8f3ee5206d682d799316314b1">State</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#af6a258d8f3ee5206d682d799316314b1">TrackState</a>
 </li>
 <li>bridge
diff --git a/docs/functions_c.html b/docs/functions_c.html
index 5ae8184a..9062ae24 100644
--- a/docs/functions_c.html
+++ b/docs/functions_c.html
@@ -209,7 +209,6 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ad1017975e2cf3f6aad2eb699e576acfb">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad1017975e2cf3f6aad2eb699e576acfb">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">centroid</a>
 </li>
 <li>cur_time
diff --git a/docs/functions_d.html b/docs/functions_d.html
index ee99a70d..9bb3249f 100644
--- a/docs/functions_d.html
+++ b/docs/functions_d.html
@@ -155,7 +155,6 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ac7f009681b64d47ba0b3079743f1e1c2">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#adf4237d0bd0be22baa530fa781f1b359">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">Perceiver</a>
 </li>
 <li>displayDebugState()
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 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4f5850e9f63016eca8e8435966fa75ad">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4f5850e9f63016eca8e8435966fa75ad">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">centroid</a>
 </li>
 <li>distCoeffs
diff --git a/docs/functions_e.html b/docs/functions_e.html
index cf0842fb..b9639eb0 100644
--- a/docs/functions_e.html
+++ b/docs/functions_e.html
@@ -82,7 +82,6 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a9ee90969e62195d66d515fcdaf56bf6a">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a9ee90969e62195d66d515fcdaf56bf6a">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">centroid</a>
 </li>
 <li>erode()
diff --git a/docs/functions_f.html b/docs/functions_f.html
index 424d6f20..7fe38d00 100644
--- a/docs/functions_f.html
+++ b/docs/functions_f.html
@@ -113,7 +113,6 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#abc0100ebe0f74d4c2e0da92529c2890b">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#abc0100ebe0f74d4c2e0da92529c2890b">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#abc0100ebe0f74d4c2e0da92529c2890b">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#abc0100ebe0f74d4c2e0da92529c2890b">Perceiver</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_func.html b/docs/functions_func.html
index 85ac43ab..39e36796 100644
--- a/docs/functions_func.html
+++ b/docs/functions_func.html
@@ -146,9 +146,6 @@ <h3><a id="index__5F"></a>- _ -</h3><ul>
 , <a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html#a418793636fd792a2b17e86fc767ccb78">CfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a06ac63b21a3c2cfbb0c23f3640549664">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1BuildCfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">BuildCfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1CfgPerceiver.html#a418793636fd792a2b17e86fc767ccb78">CfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a0f87215b58464db4a421a62dc72a04f6">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a7daf16268d7d94c657ed344a7a102a12">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a418793636fd792a2b17e86fc767ccb78">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#adc6aaa438d8630f119d535ba3caed378">centroidMulti</a>
diff --git a/docs/functions_func_a.html b/docs/functions_func_a.html
index 6a152618..5234a00c 100644
--- a/docs/functions_func_a.html
+++ b/docs/functions_func_a.html
@@ -79,7 +79,6 @@ <h3><a id="index_a"></a>- a -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a72fbf2f30085967560d93851fdf9fe6b">Monitor</a>
 , <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="classperceiver_1_1simple_1_1Perceiver.html#a72fbf2f30085967560d93851fdf9fe6b">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a72fbf2f30085967560d93851fdf9fe6b">centroid</a>
 </li>
 <li>addRegionByMask()
diff --git a/docs/functions_func_c.html b/docs/functions_func_c.html
index b7ec150c..d223bc56 100644
--- a/docs/functions_func_c.html
+++ b/docs/functions_func_c.html
@@ -146,7 +146,6 @@ <h3><a id="index_c"></a>- c -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ad1017975e2cf3f6aad2eb699e576acfb">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad1017975e2cf3f6aad2eb699e576acfb">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#ad1017975e2cf3f6aad2eb699e576acfb">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad1017975e2cf3f6aad2eb699e576acfb">centroid</a>
 </li>
 </ul>
diff --git a/docs/functions_func_d.html b/docs/functions_func_d.html
index a442e6ae..38f61bea 100644
--- a/docs/functions_func_d.html
+++ b/docs/functions_func_d.html
@@ -88,7 +88,6 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ac7f009681b64d47ba0b3079743f1e1c2">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#adf4237d0bd0be22baa530fa781f1b359">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#adf4237d0bd0be22baa530fa781f1b359">Perceiver</a>
 </li>
 <li>displayDebugState()
 : <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad2a8b12e60572ea91080bd60edc7cc6b">centroid</a>
@@ -106,7 +105,6 @@ <h3><a id="index_d"></a>- d -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4f5850e9f63016eca8e8435966fa75ad">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4f5850e9f63016eca8e8435966fa75ad">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4f5850e9f63016eca8e8435966fa75ad">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a74785a622a6f44ea437d45e7ecac2128">centroid</a>
 </li>
 <li>dump()
diff --git a/docs/functions_func_e.html b/docs/functions_func_e.html
index 7465b631..c413a396 100644
--- a/docs/functions_func_e.html
+++ b/docs/functions_func_e.html
@@ -82,7 +82,6 @@ <h3><a id="index_e"></a>- e -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a9ee90969e62195d66d515fcdaf56bf6a">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a9ee90969e62195d66d515fcdaf56bf6a">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a9ee90969e62195d66d515fcdaf56bf6a">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a9ee90969e62195d66d515fcdaf56bf6a">centroid</a>
 </li>
 <li>erode()
diff --git a/docs/functions_func_f.html b/docs/functions_func_f.html
index e33beb36..f7886134 100644
--- a/docs/functions_func_f.html
+++ b/docs/functions_func_f.html
@@ -73,7 +73,6 @@ <h3><a id="index_f"></a>- f -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#abc0100ebe0f74d4c2e0da92529c2890b">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#abc0100ebe0f74d4c2e0da92529c2890b">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#abc0100ebe0f74d4c2e0da92529c2890b">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#abc0100ebe0f74d4c2e0da92529c2890b">Perceiver</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_func_g.html b/docs/functions_func_g.html
index 27c79f14..b454ecd0 100644
--- a/docs/functions_func_g.html
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@@ -103,8 +103,6 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPerceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgProgress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1BuildCfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1CfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPerceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentMulti</a>
 </li>
@@ -173,7 +171,6 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a18bb39f68bce281f0f163fd96bb09a8c">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a18bb39f68bce281f0f163fd96bb09a8c">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>
 </li>
 </ul>
diff --git a/docs/functions_func_i.html b/docs/functions_func_i.html
index 1b1d707f..a0173e44 100644
--- a/docs/functions_func_i.html
+++ b/docs/functions_func_i.html
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 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4cbc8f16a0b6cd68f685de5561a0c618">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4cbc8f16a0b6cd68f685de5561a0c618">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 </li>
 <li>init_vidWriter()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad6c89f008c383aaf6112f6a154f336f4">D435RecBase</a>
diff --git a/docs/functions_func_m.html b/docs/functions_func_m.html
index 0162d9f2..5c868aaf 100644
--- a/docs/functions_func_m.html
+++ b/docs/functions_func_m.html
@@ -96,7 +96,6 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ad17eaba369e442d6a16fa52f3cb41762">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad17eaba369e442d6a16fa52f3cb41762">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad17eaba369e442d6a16fa52f3cb41762">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">centroidMulti</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html#ad17eaba369e442d6a16fa52f3cb41762">fromBottom</a>
diff --git a/docs/functions_func_p.html b/docs/functions_func_p.html
index e3a0a7f1..56a260bb 100644
--- a/docs/functions_func_p.html
+++ b/docs/functions_func_p.html
@@ -78,7 +78,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4dd85ce87569585c592b0dd0638c0dfd">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4dd85ce87569585c592b0dd0638c0dfd">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">centroid</a>
 </li>
 <li>printState()
@@ -97,7 +96,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a15b5b23376c42a855847f9b74cdc07b3">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a15b5b23376c42a855847f9b74cdc07b3">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a15b5b23376c42a855847f9b74cdc07b3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">centroidMulti</a>
 </li>
diff --git a/docs/functions_func_s.html b/docs/functions_func_s.html
index 9f7214c7..4bc7456b 100644
--- a/docs/functions_func_s.html
+++ b/docs/functions_func_s.html
@@ -139,7 +139,6 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a527a0171e671d241f8b8c3c94caa8172">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a527a0171e671d241f8b8c3c94caa8172">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a527a0171e671d241f8b8c3c94caa8172">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a527a0171e671d241f8b8c3c94caa8172">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">centroid</a>
 </li>
 <li>specify_model()
diff --git a/docs/functions_g.html b/docs/functions_g.html
index d5bff1d5..4c08dcd7 100644
--- a/docs/functions_g.html
+++ b/docs/functions_g.html
@@ -116,8 +116,6 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPerceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1BuildCfgProgress.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgProgress</a>
 , <a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgProgress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1BuildCfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">BuildCfgPerceiver</a>
-, <a class="el" href="classperceiver_1_1simple_1_1CfgPerceiver.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgPerceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1CfgCentroind.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentroind</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1CfgCentMulti.html#a2a49d49fc8fc3be34d358f8a4a0e75be">CfgCentMulti</a>
 </li>
@@ -186,7 +184,6 @@ <h3><a id="index_g"></a>- g -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a18bb39f68bce281f0f163fd96bb09a8c">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a18bb39f68bce281f0f163fd96bb09a8c">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a18bb39f68bce281f0f163fd96bb09a8c">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a18bb39f68bce281f0f163fd96bb09a8c">centroid</a>
 </li>
 <li>GONE
diff --git a/docs/functions_h.html b/docs/functions_h.html
index 3fe1eb09..0cb8009a 100644
--- a/docs/functions_h.html
+++ b/docs/functions_h.html
@@ -80,7 +80,6 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 <li>haveObs
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a88bf86be51ede2d7c2f01f43fd319476">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">Perceiver</a>
 </li>
 <li>haveRun
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">Perceiver</a>
@@ -90,7 +89,6 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 </li>
 <li>Homog
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">PerceiverState</a>
-, <a class="el" href="classperceiver_1_1simple_1_1State.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">State</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_i.html b/docs/functions_i.html
index c481ddaf..b050b629 100644
--- a/docs/functions_i.html
+++ b/docs/functions_i.html
@@ -112,7 +112,6 @@ <h3><a id="index_i"></a>- i -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4cbc8f16a0b6cd68f685de5561a0c618">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4cbc8f16a0b6cd68f685de5561a0c618">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4cbc8f16a0b6cd68f685de5561a0c618">Perceiver</a>
 </li>
 <li>init_vidWriter()
 : <a class="el" href="classcamera_1_1d435_1_1recorders_1_1D435RecBase.html#ad6c89f008c383aaf6112f6a154f336f4">D435RecBase</a>
diff --git a/docs/functions_m.html b/docs/functions_m.html
index 45dcaf94..27f5b5ed 100644
--- a/docs/functions_m.html
+++ b/docs/functions_m.html
@@ -128,7 +128,6 @@ <h3><a id="index_m"></a>- m -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#ad17eaba369e442d6a16fa52f3cb41762">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#ad17eaba369e442d6a16fa52f3cb41762">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#ad17eaba369e442d6a16fa52f3cb41762">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#ad17eaba369e442d6a16fa52f3cb41762">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#ad17eaba369e442d6a16fa52f3cb41762">centroidMulti</a>
 , <a class="el" href="classtrackpointer_1_1toplines_1_1fromBottom.html#ad17eaba369e442d6a16fa52f3cb41762">fromBottom</a>
diff --git a/docs/functions_n.html b/docs/functions_n.html
index a59310d4..e438713c 100644
--- a/docs/functions_n.html
+++ b/docs/functions_n.html
@@ -71,7 +71,6 @@ <h3><a id="index_n"></a>- n -</h3><ul>
 </li>
 <li>ndarray
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#a7c4c82e7573d516a6dffe895cc98f613">PerceiverState</a>
-, <a class="el" href="classperceiver_1_1simple_1_1State.html#a7c4c82e7573d516a6dffe895cc98f613">State</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#a7c4c82e7573d516a6dffe895cc98f613">TrackState</a>
 </li>
 <li>next()
diff --git a/docs/functions_p.html b/docs/functions_p.html
index ed6eeff1..1b8ddcf0 100644
--- a/docs/functions_p.html
+++ b/docs/functions_p.html
@@ -73,7 +73,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a41000f175dc0115080e2a682cc06dbe9">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a41000f175dc0115080e2a682cc06dbe9">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a41000f175dc0115080e2a682cc06dbe9">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a41000f175dc0115080e2a682cc06dbe9">Perceiver</a>
 </li>
 <li>path
 : <a class="el" href="classpaths_1_1StepLines.html#aa28dc103258589d9cb421197fe2de90b">StepLines</a>
@@ -127,7 +126,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a4dd85ce87569585c592b0dd0638c0dfd">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a4dd85ce87569585c592b0dd0638c0dfd">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a4dd85ce87569585c592b0dd0638c0dfd">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a4dd85ce87569585c592b0dd0638c0dfd">centroid</a>
 </li>
 <li>printState()
@@ -146,7 +144,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a15b5b23376c42a855847f9b74cdc07b3">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a15b5b23376c42a855847f9b74cdc07b3">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a15b5b23376c42a855847f9b74cdc07b3">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a15b5b23376c42a855847f9b74cdc07b3">centroid</a>
 , <a class="el" href="classtrackpointer_1_1centroidMulti_1_1centroidMulti.html#a15b5b23376c42a855847f9b74cdc07b3">centroidMulti</a>
 </li>
diff --git a/docs/functions_s.html b/docs/functions_s.html
index 7e06b06e..3151e51f 100644
--- a/docs/functions_s.html
+++ b/docs/functions_s.html
@@ -148,7 +148,6 @@ <h3><a id="index_s"></a>- s -</h3><ul>
 : <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a527a0171e671d241f8b8c3c94caa8172">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a527a0171e671d241f8b8c3c94caa8172">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a527a0171e671d241f8b8c3c94caa8172">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a527a0171e671d241f8b8c3c94caa8172">Perceiver</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1centroid.html#a547c6256ece97ff56ca064e3467866e7">centroid</a>
 </li>
 <li>settings
diff --git a/docs/functions_vars_b.html b/docs/functions_vars_b.html
index d70ac4b9..97e75431 100644
--- a/docs/functions_vars_b.html
+++ b/docs/functions_vars_b.html
@@ -88,7 +88,6 @@ <h3><a id="index_b"></a>- b -</h3><ul>
 , <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="classperceiver_1_1simple_1_1State.html#af6a258d8f3ee5206d682d799316314b1">State</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#af6a258d8f3ee5206d682d799316314b1">TrackState</a>
 </li>
 <li>bridge
diff --git a/docs/functions_vars_h.html b/docs/functions_vars_h.html
index f51a48f7..0f3f805a 100644
--- a/docs/functions_vars_h.html
+++ b/docs/functions_vars_h.html
@@ -80,7 +80,6 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 <li>haveObs
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a88bf86be51ede2d7c2f01f43fd319476">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a88bf86be51ede2d7c2f01f43fd319476">Perceiver</a>
 </li>
 <li>haveRun
 : <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#aead43b6d6d069fa7308f0fd73166ef79">Perceiver</a>
@@ -90,7 +89,6 @@ <h3><a id="index_h"></a>- h -</h3><ul>
 </li>
 <li>Homog
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">PerceiverState</a>
-, <a class="el" href="classperceiver_1_1simple_1_1State.html#aa43fb9e3b23bd4f840d6b48b3b2ca1cd">State</a>
 </li>
 </ul>
 </div><!-- contents -->
diff --git a/docs/functions_vars_n.html b/docs/functions_vars_n.html
index 3d74c117..fe708c8e 100644
--- a/docs/functions_vars_n.html
+++ b/docs/functions_vars_n.html
@@ -71,7 +71,6 @@ <h3><a id="index_n"></a>- n -</h3><ul>
 </li>
 <li>ndarray
 : <a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html#a7c4c82e7573d516a6dffe895cc98f613">PerceiverState</a>
-, <a class="el" href="classperceiver_1_1simple_1_1State.html#a7c4c82e7573d516a6dffe895cc98f613">State</a>
 , <a class="el" href="classtrackpointer_1_1centroid_1_1TrackState.html#a7c4c82e7573d516a6dffe895cc98f613">TrackState</a>
 </li>
 <li>noMarker
diff --git a/docs/functions_vars_p.html b/docs/functions_vars_p.html
index 61a887bb..d24b46bb 100644
--- a/docs/functions_vars_p.html
+++ b/docs/functions_vars_p.html
@@ -73,7 +73,6 @@ <h3><a id="index_p"></a>- p -</h3><ul>
 , <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html#a41000f175dc0115080e2a682cc06dbe9">Monitor</a>
 , <a class="el" href="classperceiver_1_1perceiver_1_1Perceiver.html#a41000f175dc0115080e2a682cc06dbe9">Perceiver</a>
 , <a class="el" href="classperceiver_1_1progress_1_1Progress.html#a41000f175dc0115080e2a682cc06dbe9">Progress</a>
-, <a class="el" href="classperceiver_1_1simple_1_1Perceiver.html#a41000f175dc0115080e2a682cc06dbe9">Perceiver</a>
 </li>
 <li>path
 : <a class="el" href="classpaths_1_1StepLines.html#aa28dc103258589d9cb421197fe2de90b">StepLines</a>
diff --git a/docs/graph_legend.png b/docs/graph_legend.png
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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="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html">BuildCfgPerceiver</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</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="classperceiver_1_1perceiver_1_1CfgPerceiver.html">CfgPerceiver</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Configuration instance for a perceiver. <br  />
+  <a href="classperceiver_1_1perceiver_1_1CfgPerceiver.html#details">More...</a><br /></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="classperceiver_1_1progress_1_1CfgProgress.html">CfgProgress</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="classperceiver_1_1monitor_1_1Monitor.html">Monitor</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="classperceiver_1_1simple_1_1Perceiver.html">Perceiver</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="classperceiver_1_1perceiver_1_1Perceiver.html">Perceiver</a></td></tr>
-<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Simple perceiver class. Most basic implementation.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#details">More...</a><br /></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Basic implementation of a perceiver class.  <a href="classperceiver_1_1perceiver_1_1Perceiver.html#details">More...</a><br /></td></tr>
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-<tr id="row_21_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_21_3_" class="arrow" onclick="toggleFolder('21_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_21_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. Signal is presumably in image pixels </td></tr>
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+<tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1Info.html" target="_self">Info</a></td><td class="desc"></td></tr>
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+<tr id="row_20_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="classcamera_1_1utils_1_1writer_1_1vidWriter.html" target="_self">vidWriter</a></td><td class="desc"></td></tr>
+<tr id="row_20_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">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_20_3_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_20_3_" class="arrow" onclick="toggleFolder('20_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_20_3_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_20_3_1_0_" class="arrow" onclick="toggleFolder('20_3_1_0_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1inImage_1_1bgImage.html" target="_self">bgImage</a></td><td class="desc">The most basic object or instance detector from image input </td></tr>
+<tr id="row_20_3_1_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="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>
+<tr id="row_20_3_1_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_20_3_1_0_1_" class="arrow" onclick="toggleFolder('20_3_1_0_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1bgGaussian.html" target="_self">bgGaussian</a></td><td class="desc">Implements a single <a class="el" href="namespacedetector_1_1bgmodel_1_1Gaussian.html">Gaussian</a> background model </td></tr>
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+<tr id="row_20_3_1_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="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM.html" target="_self">bgmodelGMM</a></td><td class="desc"></td></tr>
+<tr id="row_20_3_1_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="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html" target="_self">bgmodelGMM_cv</a></td><td class="desc"></td></tr>
+<tr id="row_20_3_1_0_4_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_20_3_1_0_4_" class="arrow" onclick="toggleFolder('20_3_1_0_4_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html" target="_self">inCorner</a></td><td class="desc">Class instance for extracting background that lies with the corner region of the RGB color cube, or the extremal regions of a color-space based on a planar cut </td></tr>
+<tr id="row_20_3_1_0_4_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCornerEstimator.html" target="_self">inCornerEstimator</a></td><td class="desc">Wrapper to <a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1inCorner.html" title="Class instance for extracting background that lies with the corner region of the RGB color cube,...">inCorner</a> that performs estimation for caliration and saving </td></tr>
+<tr id="row_20_3_1_1_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_20_3_1_1_" class="arrow" onclick="toggleFolder('20_3_1_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1inImage_1_1fgImage.html" target="_self">fgImage</a></td><td class="desc">The most basic object or instance detector from image input </td></tr>
+<tr id="row_20_3_1_1_0_" class="even" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span id="arr_20_3_1_1_0_" class="arrow" onclick="toggleFolder('20_3_1_1_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_20_3_1_1_0_0_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetCorner_1_1targetCorner.html" target="_self">targetCorner</a></td><td class="desc">Class instance for extracting targets that lie with the corner region of the RGB color cube, or the extremal regions of a color-space based on a planar cut </td></tr>
+<tr id="row_20_3_1_1_0_1_" class="even" style="display:none;"><td class="entry"><span style="width:96px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetMagenta_1_1targetMagenta.html" target="_self">targetMagenta</a></td><td class="desc">Class instance for extracting bright/neon magenta targets, which tend to lie in a corner region of the RGB color cube. <br  />
  </td></tr>
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-<tr id="row_21_3_1_1_0_3_" 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_1targetSG_1_1targetSG.html" target="_self">targetSG</a></td><td class="desc">Single-Gaussian based target detection with full covariance </td></tr>
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-<tr id="row_21_3_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="classdetector_1_1inImageRGBD_1_1bgImageRBGD.html" target="_self">bgImageRBGD</a></td><td class="desc">The most basic object or instance detector from RGBD image input </td></tr>
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-<tr id="row_21_4_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="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html" target="_self">PlanarModel</a></td><td class="desc">Specification data class that describes the planar cut classifier and its functional properties </td></tr>
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-<tr id="row_21_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="classdetector_1_1fgmodel_1_1targetNeon_1_1MData.html" target="_self">MData</a></td><td class="desc"></td></tr>
-<tr id="row_21_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="classdetector_1_1fgmodel_1_1targetNeon_1_1TModel.html" target="_self">TModel</a></td><td class="desc"></td></tr>
-<tr id="row_21_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="classperceiver_1_1monitor_1_1Monitor.html" target="_self">Monitor</a></td><td class="desc">A simple interface class for monitoring the outcomes of a perceived scene </td></tr>
-<tr id="row_21_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="classperceiver_1_1perceiver_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc">Simple perceiver class. Most basic implementation </td></tr>
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-<tr id="row_21_13_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_21_13_" class="arrow" onclick="toggleFolder('21_13_')">&#9658;</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_21_13_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_21_14_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1Params.html" target="_self">Params</a></td><td class="desc">Parameters for the toplines tracker </td></tr>
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-<tr id="row_22_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
-<tr id="row_23_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1Params__cv.html" target="_self">Params_cv</a></td><td class="desc">The parameters for the <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html">bgmodelGMM_cv</a> </td></tr>
-<tr id="row_24_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html" target="_self">PerceiverState</a></td><td class="desc"></td></tr>
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-<tr id="row_26_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1display_1_1plotfig.html" target="_self">plotfig</a></td><td class="desc"></td></tr>
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-<tr id="row_28_"><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>
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-<tr id="row_30_"><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_31_" 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_32_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1simple_1_1State.html" target="_self">State</a></td><td class="desc"></td></tr>
-<tr id="row_33_" 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>
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-<tr id="row_35_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1tModel__SG.html" target="_self">tModel_SG</a></td><td class="desc"></td></tr>
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-<tr id="row_37_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_37_" class="arrow" onclick="toggleFolder('37_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>basic</b></td><td class="desc"></td></tr>
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-<tr id="row_38_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_38_" class="arrow" onclick="toggleFolder('38_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>CfgNode</b></td><td class="desc"></td></tr>
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+<tr id="row_20_4_0_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1inCorner_1_1PlanarModel.html" target="_self">PlanarModel</a></td><td class="desc">Specification data class that describes the planar cut classifier and its functional properties </td></tr>
+<tr id="row_20_4_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="classdetector_1_1bgmodel_1_1inCorner_1_1SphericalModel.html" target="_self">SphericalModel</a></td><td class="desc">Specification data class that describes the planar cut classifier and its functional properties </td></tr>
+<tr id="row_20_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="classdetector_1_1fgmodel_1_1targetCorner_1_1TModel.html" target="_self">TModel</a></td><td class="desc">Target model class to encapsulate affine decision classifier </td></tr>
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+<tr id="row_20_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="classdetector_1_1fgmodel_1_1targetNeon_1_1MData.html" target="_self">MData</a></td><td class="desc"></td></tr>
+<tr id="row_20_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="classdetector_1_1fgmodel_1_1targetNeon_1_1TModel.html" target="_self">TModel</a></td><td class="desc"></td></tr>
+<tr id="row_20_9_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1monitor_1_1Monitor.html" target="_self">Monitor</a></td><td class="desc">A simple interface class for monitoring the outcomes of a perceived scene </td></tr>
+<tr id="row_20_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="classperceiver_1_1perceiver_1_1Perceiver.html" target="_self">Perceiver</a></td><td class="desc">Basic implementation of a perceiver class </td></tr>
+<tr id="row_20_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="classperceiver_1_1progress_1_1Progress.html" target="_self">Progress</a></td><td class="desc">A simple interface class for progress monitoring a perceived scene </td></tr>
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+<tr id="row_20_12_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_20_13_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classtrackpointer_1_1toplines_1_1Params.html" target="_self">Params</a></td><td class="desc">Parameters for the toplines tracker </td></tr>
+<tr id="row_20_14_" 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="classtrackpointer_1_1utils_1_1fakeTriangle_1_1fakeTriangle.html" target="_self">fakeTriangle</a></td><td class="desc"></td></tr>
+<tr id="row_21_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1fgmodel_1_1targetSG_1_1Params.html" target="_self">Params</a></td><td class="desc"></td></tr>
+<tr id="row_22_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1Params__cv.html" target="_self">Params_cv</a></td><td class="desc">The parameters for the <a class="el" href="classdetector_1_1bgmodel_1_1GMM_1_1bgmodelGMM__cv.html">bgmodelGMM_cv</a> </td></tr>
+<tr id="row_23_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1PerceiverState.html" target="_self">PerceiverState</a></td><td class="desc"></td></tr>
+<tr id="row_24_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1display__cv_1_1plotfig.html" target="_self">plotfig</a></td><td class="desc"></td></tr>
+<tr id="row_25_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcamera_1_1utils_1_1display_1_1plotfig.html" target="_self">plotfig</a></td><td class="desc"></td></tr>
+<tr id="row_26_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1ProgressState.html" target="_self">ProgressState</a></td><td class="desc"></td></tr>
+<tr id="row_27_"><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_28_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1SGMdebug.html" target="_self">SGMdebug</a></td><td class="desc"></td></tr>
+<tr id="row_29_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="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_30_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classdetector_1_1bgmodel_1_1Gaussian_1_1SGMstate.html" target="_self">SGMstate</a></td><td class="desc"></td></tr>
+<tr id="row_31_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="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>
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+<tr id="row_33_" 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_34_"><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>
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+<tr id="row_35_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="classimprocessor_1_1mask_1_1mask.html" target="_self">mask</a></td><td class="desc"></td></tr>
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+<tr id="row_36_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="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>
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+<tr id="row_36_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>
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+<tr id="row_36_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_36_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_36_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_36_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_36_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_36_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="classperceiver_1_1perceiver_1_1BuildCfgPerceiver.html" target="_self">BuildCfgPerceiver</a></td><td class="desc">Build configuration instance for a perceiver. <br  />
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+<tr id="row_36_1_6_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1perceiver_1_1CfgPerceiver.html" target="_self">CfgPerceiver</a></td><td class="desc">Configuration instance for a perceiver. <br  />
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-<tr id="row_38_2_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="classperceiver_1_1monitor_1_1CfgMonitor.html" target="_self">CfgMonitor</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html" title="A simple interface class for monitoring the outcomes of a perceived scene.">Monitor</a>. <br  />
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+<tr id="row_36_1_7_0_" style="display:none;"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="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_36_1_8_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="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_36_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_36_2_" class="arrow" onclick="toggleFolder('36_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_36_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_36_2_1_" class="even" style="display:none;"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_36_2_1_" class="arrow" onclick="toggleFolder('36_2_1_')">&#9658;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classivapy_1_1Configuration_1_1BuildConfig.html" target="_self">BuildConfig</a></td><td class="desc">Base class for algorithm builder configuration </td></tr>
+<tr id="row_36_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="classperceiver_1_1monitor_1_1BuildCfgMonitor.html" target="_self">BuildCfgMonitor</a></td><td class="desc">Build configuration instance for a monitor. <br  />
  </td></tr>
-<tr id="row_38_2_5_" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html" target="_self">CfgProgress</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1progress_1_1Progress.html" title="A simple interface class for progress monitoring a perceived scene.">Progress</a> monitor. <br  />
+<tr id="row_36_2_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="classperceiver_1_1progress_1_1BuildCfgProgress.html" target="_self">BuildCfgProgress</a></td><td class="desc">Build configuration instance for a progress monitor. <br  />
  </td></tr>
-<tr id="row_39_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_39_" class="arrow" onclick="toggleFolder('39_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>Enum</b></td><td class="desc"></td></tr>
-<tr id="row_39_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="classbyMotion_1_1MoveState.html" target="_self">MoveState</a></td><td class="desc"></td></tr>
-<tr id="row_39_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="classbyMotion_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
-<tr id="row_39_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="classdetector_1_1bgmodel_1_1onWorkspace_1_1RunState.html" target="_self">RunState</a></td><td class="desc"></td></tr>
+<tr id="row_36_2_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="classivapy_1_1Configuration_1_1ROSConfig.html" target="_self">ROSConfig</a></td><td class="desc">Base class for ROS-based robot, node, algorithm configuration </td></tr>
+<tr id="row_36_2_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="classpaths_1_1CfgStepLines.html" target="_self">CfgStepLines</a></td><td class="desc">Configuration specifier for piecewise lines instance </td></tr>
+<tr id="row_36_2_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="classperceiver_1_1monitor_1_1CfgMonitor.html" target="_self">CfgMonitor</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1monitor_1_1Monitor.html" title="A simple interface class for monitoring the outcomes of a perceived scene.">Monitor</a>. <br  />
+ </td></tr>
+<tr id="row_36_2_5_" class="even" style="display:none;"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classperceiver_1_1progress_1_1CfgProgress.html" target="_self">CfgProgress</a></td><td class="desc">Configuration instance for a <a class="el" href="classperceiver_1_1progress_1_1Progress.html" title="A simple interface class for progress monitoring a perceived scene.">Progress</a> monitor. <br  />
+ </td></tr>
+<tr id="row_37_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_37_" class="arrow" onclick="toggleFolder('37_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>Enum</b></td><td class="desc"></td></tr>
+<tr id="row_37_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="classbyMotion_1_1MoveState.html" target="_self">MoveState</a></td><td class="desc"></td></tr>
+<tr id="row_37_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="classbyMotion_1_1TrackState.html" target="_self">TrackState</a></td><td class="desc"></td></tr>
+<tr id="row_37_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="classdetector_1_1bgmodel_1_1onWorkspace_1_1RunState.html" target="_self">RunState</a></td><td class="desc"></td></tr>
 </table>
 </div><!-- directory -->
 </div><!-- contents -->
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index 2e651f47..2846fd2a 100644
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diff --git a/docs/inherit_graph_32.map b/docs/inherit_graph_32.map
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diff --git a/docs/inherit_graph_32.md5 b/docs/inherit_graph_32.md5
index 2846fd2a..f5ced412 100644
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diff --git a/docs/inherit_graph_37.map b/docs/inherit_graph_37.map
index 5dff4126..9f59fb69 100644
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diff --git a/docs/inherit_graph_37.md5 b/docs/inherit_graph_37.md5
index 0d9b996c..53d18d53 100644
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