Beispiel #1
0
  public void run() {
    MOVE_PREV = MOVE_DOWN;

    System.out.println("INIT!");
    map = new int[mapX][mapY];

    for (int i = 0; i < map.length; i++) {
      for (int j = 0; j < map[i].length; j++) {
        map[i][j] = 0;
      }
    }
    map[blockP.x][blockP.y] = 1;
    //    	map[0][20] = 1;

    StdDraw.setXscale(-1.0, 1.0);
    StdDraw.setYscale(-1.0, 1.0);

    // initial values

    // double vx = 0.015, vy = 0.023;     // velocity

    // main animation loop
    while (true) {

      drawGame();
      try {
        Thread.sleep(100);
      } catch (InterruptedException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
      }
      movePrev();
    }
  }
Beispiel #2
0
  public void handleImage() {
    while (true) {
      Image src = null;
      try {
        src = new Image(visionImage.take(), width, height);
      } catch (InterruptedException e) {
        e.printStackTrace();
        continue;
      }

      // Apply Blob Track to Image
      Image dest = new Image(src);
      blobTrack.apply(src, dest);

      OdometryMsg msg = new OdometryMsg();

      if (LOCALIZE && System.currentTimeMillis() - last_localization > LOCALIZATION_INTERVAL) {
        ResetMsg stop_msg = new ResetMsg();
        stop_msg.reset = false;
        stopPub.publish(stop_msg);

        Point2D.Double curr_point;
        synchronized (localization) {
          curr_point = localization.localize(odo_x, odo_y, blobTrack.fiducials);
        }
        msg.x = curr_point.x;
        msg.y = curr_point.y;

        last_localization = System.currentTimeMillis();
      } else {
        msg.x = odo_x;
        msg.y = odo_y;
      }
      msg.theta = odo_theta;
      localPub.publish(msg);

      // Update newly formed vision message
      gui.setVisionImage(dest.toArray(), width, height);

      try {
        Thread.sleep(1000);
      } catch (Exception exc) {
        exc.printStackTrace();
      }

      ResetMsg stop_msg = new ResetMsg();
      stop_msg.reset = true;
      stopPub.publish(stop_msg);
    }
  }
Beispiel #3
0
  public void run() {
    try {
      while (running) {

        try {
          Thread.sleep(framerate);
        } catch (InterruptedException e) {
          e.printStackTrace();
        }
        repaint();
        updateObjects();
      }
    } catch (Exception e) {
      e.printStackTrace();
    }
  }
  private static int[] makeGradientPallet() {
    BufferedImage image = new BufferedImage(100, 1, BufferedImage.TYPE_INT_RGB);
    Graphics2D g2 = image.createGraphics();
    Point2D start = new Point2D.Float(0f, 0f);
    Point2D end = new Point2D.Float(99f, 0f);
    float[] dist = {0f, .5f, 1f};
    Color[] colors = {Color.RED, Color.YELLOW, Color.GREEN};
    g2.setPaint(new LinearGradientPaint(start, end, dist, colors));
    g2.fillRect(0, 0, 100, 1);
    g2.dispose();

    int width = image.getWidth(null);
    int[] pallet = new int[width];
    PixelGrabber pg = new PixelGrabber(image, 0, 0, width, 1, pallet, 0, width);
    try {
      pg.grabPixels();
    } catch (InterruptedException ex) {
      ex.printStackTrace();
    }
    return pallet;
  }