Beispiel #1
0
    public void mouseDragged(MouseEvent e) {
      int mods = e.getModifiersEx();
      Point dragEnd = e.getPoint();
      boolean shift = (mods & MouseEvent.SHIFT_DOWN_MASK) > 0;
      boolean ctrl = (mods & MouseEvent.CTRL_DOWN_MASK) > 0;
      boolean alt = shift & ctrl;
      ctrl = ctrl & (!alt);
      shift = shift & (!alt);
      boolean nomods = !(shift | ctrl | alt);

      if (dragBegin == null) dragBegin = dragEnd;

      nodrag = false;

      if ((mods & InputEvent.BUTTON3_DOWN_MASK) > 0 || true) {
        double dx = dragEnd.getX() - dragBegin.getX();
        double dy = dragEnd.getY() - dragBegin.getY();

        synchronized (JImage.this) {
          t.preConcatenate(AffineTransform.getTranslateInstance(dx, dy));
        }

        dragBegin = dragEnd;
        repaint();
      }
    }
 public Point componentToImage(Point p) {
   float r = Math.min(getWidth() / (float) width, getHeight() / (float) height);
   int x = (int) (p.getX() / r);
   int y = (int) (p.getY() / r);
   if ((x > width - 1) || (y > height - 1)) return new Point(-1, -1);
   return new Point(x, y);
 }
 /**
  * Draw a string at a given point.
  *
  * <p>The method returns the point where the next string should be drawn to seamlessly continue
  * the current string.
  *
  * @param s the string
  * @param point the position where to draw the string
  * @param fontname the font's name, should preferably be a logical name
  * @param fontsize the font size
  * @param color the color
  * @return the point where outputting string text should continue
  */
 public Point drawString(String s, Point point, String fontname, int fontsize, Color color) {
   Graphics g = this.image.getGraphics();
   g.setColor(color);
   g.setFont(new Font(fontname, Font.PLAIN, fontsize));
   g.drawString(s, point.x, point.y);
   FontMetrics f = g.getFontMetrics();
   Point newPoint = new Point(point);
   newPoint.x += f.stringWidth(s);
   this.repaint();
   return (newPoint);
 }
 public void paint(Graphics g1) {
   Graphics2D g = (Graphics2D) g1;
   Component c;
   Point p;
   paintComponent(g);
   for (int i = 0; i < getComponentCount(); i++) {
     AffineTransform save = g.getTransform();
     c = getComponent(i);
     p = c.getLocation();
     g.translate((int) p.getX(), (int) p.getY());
     c.paint(g);
     g.setTransform(save);
   }
 }
Beispiel #5
0
        public void mousePressed(MouseEvent e) {
          requestFocus();
          Point p = e.getPoint();
          int size =
              Math.min(
                  MAX_SIZE,
                  Math.min(
                      getWidth() - imagePadding.left - imagePadding.right,
                      getHeight() - imagePadding.top - imagePadding.bottom));
          p.translate(-(getWidth() / 2 - size / 2), -(getHeight() / 2 - size / 2));
          if (mode == ColorPicker.BRI || mode == ColorPicker.SAT) {
            // the two circular views:
            double radius = ((double) size) / 2.0;
            double x = p.getX() - size / 2.0;
            double y = p.getY() - size / 2.0;
            double r = Math.sqrt(x * x + y * y) / radius;
            double theta = Math.atan2(y, x) / (Math.PI * 2.0);

            if (r > 1) r = 1;

            if (mode == ColorPicker.BRI) {
              setHSB((float) (theta + .25f), (float) (r), bri);
            } else {
              setHSB((float) (theta + .25f), sat, (float) (r));
            }
          } else if (mode == ColorPicker.HUE) {
            float s = ((float) p.x) / ((float) size);
            float b = ((float) p.y) / ((float) size);
            if (s < 0) s = 0;
            if (s > 1) s = 1;
            if (b < 0) b = 0;
            if (b > 1) b = 1;
            setHSB(hue, s, b);
          } else {
            int x2 = p.x * 255 / size;
            int y2 = p.y * 255 / size;
            if (x2 < 0) x2 = 0;
            if (x2 > 255) x2 = 255;
            if (y2 < 0) y2 = 0;
            if (y2 > 255) y2 = 255;

            if (mode == ColorPicker.RED) {
              setRGB(red, x2, y2);
            } else if (mode == ColorPicker.GREEN) {
              setRGB(x2, green, y2);
            } else {
              setRGB(x2, y2, blue);
            }
          }
        }
  public void paint(Graphics g) {
    Graphics2D g2 = (Graphics2D) g;
    Dimension asz = this.getSize();

    if (fullRefresh) {
      g2.clearRect(0, 0, asz.width, asz.height);
      fullRefresh = false;
    }
    g2.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
    g2.setRenderingHint(RenderingHints.KEY_RENDERING, RenderingHints.VALUE_RENDER_QUALITY);
    big.setColor(Color.black);
    offset.x = (int) (asz.width - iw) / 2;
    offset.y = (int) (asz.height - ih) / 2;
    big.drawImage(img, 0, 0, this);
    big.setPaint(Color.red);
    if ((rect.width > 0) && (rect.height > 0)) big.draw(rect);
    if (selected == 1) shadeExt(big, 0, 0, 0, 64);
    else if (selected == 2) {
      shadeExt(big, 0, 0, 0, 255);
      selected = 1;
    }
    g2.drawImage(bi, offset.x, offset.y, this);
  }
Beispiel #7
0
  public void processPolygonSpline(boolean shiftDown) {
    mCurrPC.setBatchModeOn();
    if (!shiftDown) mCurrPC.unselectAll();

    // loop on spline pts to construct a Polygon
    Polygon srcArea = new Polygon();
    for (int s = 0; s < mSplinePoints.size(); s++) {
      Point p = (Point) mSplinePoints.elementAt(s);
      int x = p.x - mLeft - 5;
      int y = p.y - mTop - 5;

      srcArea.addPoint(x, y);
    }

    mSplinePoints.removeAllElements();

    // search for matches
    byte[] currFilterResults = fdm.getResults();
    double[] yArray1 = getYArray1();
    double[] xArray1 = getXArray1();
    double[] yArray2 = getYArray2();
    double[] xArray2 = getXArray2();
    Point p1 = new Point();
    Point p2 = new Point();

    for (int i = 0; i < mCurrPC.getSize(); i++) {
      if (!mIgnoreFilter
          && (mCurrPC.isDeleted(i) || currFilterResults[i] != 4 || !mCurrPC.isSelectedLayer(i)))
        continue;
      double yi = yArray1[i];
      double xi = xArray1[i];
      double xi2 = Float.NaN;
      double yi2 = Float.NaN;
      double xx2 = Float.NaN;
      double yy2 = Float.NaN;

      // correct the X value if necessary
      xi = correctX(xi);

      double xx1 = (xi - winXOrigin) * winXScale;
      double yy1 = (yi - winYOrigin) * winYScale;

      // correct the Y coordinate if necessary
      yy1 = correctY(yy1);

      if (!isYAxisScaler()) {
        yi2 = yArray2[i];
        yy2 = (yi2 - winYOrigin) * winYScale;
        ;
        yy2 = correctY(yy2);
      } else yy2 = yy1;

      if (!isXAxisScaler()) {
        xi2 = xArray2[i];
        xi2 = correctX(xi2);
        xx2 = (xi2 - winXOrigin) * winXScale;
      } else xx2 = xx1;

      p1.setLocation((int) xx1, (int) yy1);
      p2.setLocation((int) xx2, (int) yy2);

      if (srcArea.contains(p1) || srcArea.contains(p2)) {
        mCurrPC.select(i);
      }
    }
    mViewManager.invalidateAllViews();
    mCurrPC.setBatchModeOff();
  }
Beispiel #8
0
  public void rubberbandEnded(Rubberband rb, boolean shiftDown) {
    // get the limits and zoom the plot
    if (mCurrPC == null) return;
    Rectangle rbRect = rb.getBounds();
    if (rbRect.width == 0 || rbRect.height == 0) {
      // click selection
      if (toolMode == Constants.SELECT_MODE) {
        // find any matches at the mouseclick location
        int x = rbRect.x - mLeft - 5;
        int y = rbRect.y - mTop - 5;

        // construct a search region;
        int[] xpoints = {x - 1, x + 1, x + 1, x - 1, x - 1};
        int[] ypoints = {y - 1, y - 1, y + 1, y + 1, y - 1};
        Polygon sr = new Polygon(xpoints, ypoints, 5);

        if (!shiftDown) mCurrPC.unselectAll();

        mCurrPC.setBatchModeOn();

        byte[] currFilterResults = fdm.getResults();
        double[] yArray1 = getYArray1();
        double[] xArray1 = getXArray1();
        double[] yArray2 = getYArray2();
        double[] xArray2 = getXArray2();

        for (int i = 0; i < mCurrPC.getSize(); i++) {
          if (!mIgnoreFilter && (mCurrPC.isDeleted(i) || currFilterResults[i] != 4)
              || !mCurrPC.isSelectedLayer(i)) continue;

          // search for matches
          double yi = yArray1[i];
          double xi = xArray1[i];
          double xi2 = Float.NaN;
          double yi2 = Float.NaN;
          double x2 = Float.NaN;
          double y2 = Float.NaN;

          // correct the X value if necessary
          xi = correctX(xi);

          double x1 = (xi - winXOrigin) * winXScale;
          double y1 = (yi - winYOrigin) * winYScale;

          // correct the Y coordinate if necessary
          y1 = correctY(y1);

          if (!isYAxisScaler()) {
            yi2 = yArray2[i];
            y2 = (yi2 - winYOrigin) * winYScale;
            y2 = correctY(y2);
          } else y2 = y1;

          if (!isXAxisScaler()) {
            xi2 = xArray2[i];
            xi2 = correctX(xi2);
            x2 = (xi2 - winXOrigin) * winXScale;
          } else x2 = x1;

          if (sr.contains(new Point((int) x1, (int) y1))
              || sr.contains(new Point((int) x2, (int) y2))) {
            mCurrPC.select(i);
          }
        }
        mViewManager.invalidateAllViews();
        mCurrPC.setBatchModeOff();
      } else if (toolMode == Constants.ZOOM_MODE) {
        if (!shiftDown) {
          doZoomIn(rbRect);
        } else {
          // zoom out
          double xInc = getXZoomIncrement();
          double yInc = getYZoomIncrement();
          double[] oldYs = {getMaxYVal(), getMinYVal()};
          double[] newYs = {
            getMinYVal() < 0 ? getMinYVal() - yInc : getMinYVal() + yInc,
            getMaxYVal() < 0 ? getMaxYVal() - yInc : getMaxYVal() + yInc
          };
          double[] oldXs = {getMinXVal(), getMaxXVal()};
          double[] newXs = {
            getMinXVal() < 0 ? getMinXVal() - xInc : getMinXVal() + xInc,
            getMaxXVal() < 0 ? getMaxXVal() - xInc : getMaxXVal() + xInc
          };
          this.zoomDomain(oldYs, newYs, oldXs, newXs);
        }
        mViewManager.invalidateAllViews();
      }
    } else {
      // region selected
      int x = rbRect.x - mLeft - 5;
      int y = rbRect.y - mTop - 5;
      int x2 = x + rbRect.width;
      int y2 = y + rbRect.height;
      Point p1 = new Point();
      Point p2 = new Point();

      if (toolMode == Constants.SELECT_MODE) {
        if (!shiftDown) mCurrPC.unselectAll();

        // construct a search region;
        int[] xpoints = {x, x2, x2, x, x};
        int[] ypoints = {y, y, y2, y2, y};
        Polygon sr = new Polygon(xpoints, ypoints, 5);

        // search for matches
        byte[] currFilterResults = fdm.getResults();
        double[] yArray1 = getYArray1();
        double[] xArray1 = getXArray1();
        double[] yArray2 = getYArray2();
        double[] xArray2 = getXArray2();

        mCurrPC.setBatchModeOn();
        for (int i = 0; i < mCurrPC.getSize(); i++) {
          if (!mIgnoreFilter
              && (mCurrPC.isDeleted(i) || currFilterResults[i] != 4 || !mCurrPC.isSelectedLayer(i)))
            continue;

          double yi = yArray1[i];
          double xi = xArray1[i];
          double xi2 = Float.NaN;
          double yi2 = Float.NaN;
          double xx2 = Float.NaN;
          double yy2 = Float.NaN;

          // correct the X value if necessary
          xi = correctX(xi);

          double xx1 = (xi - winXOrigin) * winXScale;
          double yy1 = (yi - winYOrigin) * winYScale;

          // correct the Y coordinate if necessary
          yy1 = correctY(yy1);

          if (!isYAxisScaler()) {
            yi2 = yArray2[i];
            yy2 = (yi2 - winYOrigin) * winYScale;
            yy2 = correctY(yy2);
          } else yy2 = yy1;

          if (!isXAxisScaler()) {
            xi2 = xArray2[i];
            xi2 = correctX(xi2);
            xx2 = (xi2 - winXOrigin) * winXScale;
          } else xx2 = xx1;

          p1.setLocation((int) xx1, (int) yy1);
          p2.setLocation((int) xx2, (int) yy2);

          if (sr.contains(p1) || sr.contains(p2)) {
            mCurrPC.select(i);
          }
        }
        mViewManager.invalidateAllViews();
        mCurrPC.setBatchModeOff();
      } else if (toolMode == Constants.ZOOM_MODE) {
        // correct the x value if necessary
        double xx = correctX((double) x);
        double xx2 = correctX((double) x2);

        // correct the Y coordinate if necessary
        double yy = correctY((double) y);
        double yy2 = correctY((double) y2);

        double newX = (xx / winXScale) + winXOrigin;
        double newX2 = (xx2 / winXScale) + winXOrigin;
        double newY = (yy / winYScale) + winYOrigin;
        double newY2 = (yy2 / winYScale) + winYOrigin;

        double[] oldYs = {getMaxYVal(), getMinYVal()};
        if (this.toString().indexOf("Depth") >= 0) {
          double temp = newY2;
          newY2 = newY;
          newY = temp;
        }
        double[] newYs = {newY2, newY};

        double[] oldXs = {getMinXVal(), getMaxXVal()};
        double[] newXs = {newX, newX2};
        this.zoomDomain(oldYs, newYs, oldXs, newXs);
        mViewManager.invalidateAllViews();
      }
    }
  }
  public void run() {
    while (true) {
      BALL = null;
      ball_t ballLCM = new ball_t();

      synchronized (depthMonitor) {
        try {
          depthMonitor.wait();
        } catch (Exception e) {
          e.printStackTrace();
        }
      }
      ballLCM.nanoTime = depthStream.latestTimestamp;
      ArrayList<Statistics> blobs;
      depthStream.getReadLock().lock();
      try {
        blobs = finder.analyze2(depthStream.getValidImageArray());
      } finally {
        depthStream.getReadLock().unlock();
      }
      Statistics ball = null;
      Statistics robot = null;
      int minSize = pg.gi("blobThresh");

      // find robot and ball by blob size
      Collections.sort(blobs, ComparatorFactory.getStatisticsCompareSize());
      // find robot and ball by y pixel
      // Collections.sort(blobs, ComparatorFactory.getStatisticsCompareYPix());
      //			if (tracking) {
      //				System.out.println("num blobs: " + blobs.size());
      //				System.out.println("biggest blob size: " + blobs.get(0).N);
      //			}
      //			for (Statistics blob : blobs) {
      //				if (blob.N > 10) {
      //					System.out.println("blob size: " + blob.N);
      //				}
      //				else {
      //					break;
      //				}
      //			}
      if (blobs.size() == 1) {
        Statistics first = blobs.get(0);
        if (first.N > minSize) {
          ball = first;
        }
      } else if (blobs.size() >= 2) {
        Statistics first = blobs.get(0);
        Statistics second = blobs.get(1);
        if (first.N > minSize) {
          ball = first;
        }
        if (second.N > minSize) {
          robot = first;
          ball = second;
        }
      }

      // System.out.println("balls points " + depthStream.trajectory.size());

      // if not tracking keep kv.depthStream.trajectory to just one index
      if (!tracking) {
        depthStream.trajectory.clear();
      }

      if (ball != null) {
        depthStream.trajectory.add(ball);

        Point depthPix = ball.center();
        Point depthCoord = new Point();
        depthCoord.x = depthPix.x - KinectVideo.C_X;
        depthCoord.y = KinectVideo.C_Y - depthPix.y;

        // System.out.println("avg depth " + ball.Uz());

        // get depth from average depth of blob
        double realDepth = raw_depth_to_meters(ball.Uz());
        Point3D coord = depthStream.getWorldCoords(depthCoord, realDepth);
        if (depthPix != null) {
          for (int y = depthPix.y - 3; y < depthPix.y + 3; y++) {
            for (int x = depthPix.x - 3; x < depthPix.x + 3; x++) {
              try {
                depthImg.setRGB(x, y, 0xFFFF0000);
              } catch (Exception e) {
                // System.out.println(x + " " + y);
              }
              ;
            }
          }
          // if (tracking) {
          // 	//save image
          // 	depthStream.getReadLock().lock();
          // 	try {
          // 		File imgFile = new File("image" + ballNum++ + ".png");
          // 		try {
          // 			ImageIO.write(depthImg, "png", imgFile);
          // 		}
          // 		catch(Exception e) {
          // 			System.out.println("can't save img");
          // 		}
          // 	}
          // 	finally {
          // 		depthStream.getReadLock().unlock();
          // 	}
          // }

          if (tracking) {
            ballLCM.x = coord.x;
            ballLCM.y = coord.y;
            ballLCM.z = coord.z;
            // if(tracking)
            System.out.println("updating new ball (" + System.currentTimeMillis() + ")");
            //						if (ballLCM.x > CatchController.TARGET_MAX_X)
            lcm.publish("6_BALL", ballLCM);
            //						else
            //							System.out.println("ball past target zone");
          }
        }
      }
    }
  }