BallDetector(boolean _display) {

    ctx = Freenect.createContext();
    if (ctx.numDevices() > 0) {
      kinect = ctx.openDevice(0);
    } else {
      System.err.println("WARNING: No kinects detected");
      return;
    }
    display = _display;

    controlFrame = new JFrame("Controls");
    controlFrame.setLayout(new GridLayout(5, 1));
    controlFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
    pg = new ParameterGUI();
    pg.addIntSlider("maxDepth", "max depth", 800, 2047, 1050);
    pg.addIntSlider("blobThresh", "blob thresh", 1, 500, 125);
    pg.addIntSlider("thresh", "thresh", 1, 100, 10);
    pg.addIntSlider("frames", "frames", 1, 1000, 1);
    pg.addListener(
        new ParameterListener() {
          public void parameterChanged(ParameterGUI _pg, String name) {
            if (name.equals("thresh")) {
              KinectDepthVideo.THRESH = _pg.gi(name);
            } else if (name.equals("frames")) {
              KinectDepthVideo.MAX_FRAMES = _pg.gi(name);
            } else if (name.equals("maxDepth")) {
              KinectDepthVideo.MAX_DEPTH = _pg.gi(name);
            }
          }
        });
    controlFrame.add(pg, 0, 0);

    startTracking = new JButton("Start Tracking Balls");
    startTracking.addActionListener(
        new ActionListener() {

          public void actionPerformed(ActionEvent e) {
            if (!tracking) {
              tracking = true;
              colorStream.pause();
              depthStream.pause();
              startTracking.setText("Stop Tracking");
            } else {
              tracking = false;
              colorStream.resume();
              depthStream.resume();
              startTracking.setText("Start Tracking Balls");
            }
          }
        });
    controlFrame.add(startTracking, 1, 0);

    resetProjectile = new JButton("Reset Projectile");
    resetProjectile.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            try {
              lcm.publish("6_RESET", "reset");
            } catch (IOException ex) {
              System.out.println("can't publish reset");
            }
          }
        });
    controlFrame.add(resetProjectile, 2, 0);
    resetDepth = new JButton("Reset Depth Avgs");
    resetDepth.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            DepthClearer ic = new DepthClearer(pg);
            ic.start();
          }
        });
    controlFrame.add(resetDepth, 3, 0);
    JPanel scoreButtons = new JPanel(new GridLayout(1, 3));
    JButton addHuman = new JButton("human++");
    addHuman.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            try {
              lcm.publish("6_SCORE_HUMAN", "bish");
            } catch (IOException ex) {
              System.out.println("can't publish score");
            }
          }
        });
    JButton addRobot = new JButton("robot++");
    addRobot.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            try {
              lcm.publish("6_SCORE_ROBOT", "bish");
            } catch (IOException ex) {
              System.out.println("can't publish score");
            }
          }
        });
    JButton resetScores = new JButton("reset scores");
    resetScores.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            try {
              lcm.publish("6_SCORE_RESET", "bish");
            } catch (IOException ex) {
              System.out.println("can't publish score");
            }
          }
        });
    scoreButtons.add(addHuman, 0, 0);
    scoreButtons.add(addRobot, 0, 1);
    scoreButtons.add(resetScores, 0, 2);
    controlFrame.add(scoreButtons, 4, 0);
    controlFrame.setSize(800, 600);
    controlFrame.setVisible(true);

    colorFrame = new JFrame("color feed");
    colorMonitor = new Object();
    colorStream = new KinectRGBVideo(kinect, colorMonitor, display);
    colorFrame.setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
    colorFrame.addWindowListener(new RGBClose());
    colorFrame.setSize(KinectVideo.WIDTH, KinectVideo.HEIGHT);
    colorFrame.setContentPane(colorStream);
    colorFrame.setVisible(true);

    depthFrame = new JFrame("depth feed");
    depthMonitor = new Object();
    depthStream = new KinectDepthVideo(kinect, depthMonitor, display);
    depthFrame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
    depthFrame.setSize(KinectVideo.WIDTH, KinectVideo.HEIGHT);
    depthFrame.setContentPane(depthStream);
    depthFrame.setVisible(true);

    rgbImg = new BufferedImage(640, 480, BufferedImage.TYPE_INT_ARGB);
    depthImg = new BufferedImage(640, 480, BufferedImage.TYPE_INT_ARGB);

    validImageValue = new boolean[KinectVideo.WIDTH * KinectVideo.HEIGHT];
    try {
      lcm = new LCM("udpm://239.255.76.67:7667?ttl=1");
    } catch (IOException e) {
      lcm = LCM.getSingleton();
    }
    BALL = new Statistics();

    finder = new BallTracker(KinectVideo.WIDTH, KinectVideo.HEIGHT, false);

    if (display) {
      depthImg = depthStream.getFrame();
      rgbImg = colorStream.getFrame();
    }
    // get robot position from click
    depthStream.addMouseListener(
        new MouseAdapter() {
          public void mouseClicked(MouseEvent e) {
            Point botPix = e.getPoint();
            botStart = depthStream.getWorldCoords(botPix);
            botStart.z += 0.08;
            System.out.println("botStart: " + botStart.toString());
            depthStream.showSubtraction();
            depthStream.botLoc = botPix;
          }
        });
    DepthClearer ic = new DepthClearer(pg);
    ic.start();
  }
Exemple #2
0
  public LJ3MDApp() {
    tNum.setHorizontalAlignment(JTextField.CENTER);
    tTemp.setHorizontalAlignment(JTextField.CENTER);
    tRho.setHorizontalAlignment(JTextField.CENTER);
    tSpeed.setHorizontalAlignment(JTextField.CENTER);

    tAvK.setHorizontalAlignment(JTextField.RIGHT);
    tAvU.setHorizontalAlignment(JTextField.RIGHT);
    tAvp.setHorizontalAlignment(JTextField.RIGHT);

    float[] aveKing = new float[501];
    float[] avePot = new float[501];
    float[] aveEn = new float[501];

    JFrame box = new JFrame();
    box.setLayout(new BorderLayout());
    box.setSize(1000, 1000);
    box.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);

    cpnl = new JPanel(); // create a panel for controls
    cpnl.setLayout(new GridLayout(18, 2));
    box.add(cpnl, BorderLayout.EAST);

    // add controls
    cpnl.add(bStart);
    bStart.addActionListener(this);

    cpnl.add(bReset);
    bReset.addActionListener(this);

    cpnl.add(new JLabel(" N:"));
    tNum.addActionListener(this);
    cpnl.add(tNum);

    cpnl.add(new JLabel(" Density (\u03c1):"));
    tRho.addActionListener(this);
    cpnl.add(tRho);

    cpnl.add(new JLabel(" Steps/frame:"));
    tSpeed.addActionListener(this);
    cpnl.add(tSpeed);

    cpnl.add(bTstat);
    bTstat.addActionListener(this);

    cpnl.add(bPot);
    bPot.addActionListener(this);

    cpnl.add(new JLabel(" < K/N > :"));
    tAvK.setEditable(false);
    cpnl.add(tAvK);

    cpnl.add(new JLabel(" Temperature:"));
    tTemp.setEditable(false);
    cpnl.add(tTemp);

    cpnl.add(new JLabel(" < U/N > :"));
    tAvU.setEditable(false);
    cpnl.add(tAvU);

    cpnl.add(new JLabel(" < pressure > :"));
    tAvp.setEditable(false);
    cpnl.add(tAvp);

    cpnl.add(bRetime);
    bRetime.addActionListener(this);

    spnl = new JPanel(); // create a panel for status
    box.add(spnl, BorderLayout.SOUTH);
    lStatus.setFont(new Font("Courier", 0, 12));
    spnl.add(lStatus);

    canvas = new XYZCanvas();
    box.add(canvas, BorderLayout.CENTER);

    timer = new Timer(delay, this);
    timer.start();
    //        timer.stop();
    box.setVisible(true);
  }