private BufferedImage getBufferedImage(double[] pattern, int width, int height, int alpha) {
BufferedImage image = new BufferedImage(width, height, BufferedImage.TYPE_INT_ARGB);
int rgba = 0;
int i = 0;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
switch (COLOUR_SPACE) {
// Yuv
case 0:
// grey
int grey = (int) Math.round(pattern[i] * 255);
if (grey < 0) grey = 0;
else if (grey > 255) grey = 255;
// calculate RGB value
rgba = new Color(grey, grey, grey, alpha).getRGB();
break;
// RGB
case 11:
// red
int r = (int) Math.round(pattern[i + 0] * 255);
if (r < 0) r = 0;
else if (r > 255) r = 255;
// green
int g = (int) Math.round(pattern[i + 1] * 255);
if (g < 0) g = 0;
else if (g > 255) g = 255;
// blue
int b = (int) Math.round(pattern[i + 2] * 255);
if (b < 0) b = 0;
else if (b > 255) b = 255;
// calculate RGB value
rgba = new Color(r, g, b, alpha).getRGB();
break;
}
// set pixel
image.setRGB(x, y, rgba);
i += BITS_PER_PIXEL;
}
}
return image;
}
@Override
public void run() {
// initialise
random = new Random();
motion = new ALMotionProxy(host, port);
running = true;
finished = false;
while (running) {
// set stiffnesses
for (int i = 0; i < angles.length; i++) {
motion.setStiffnesses(new Variant(names[i]), new Variant(1.0f));
}
// set angles
for (int i = 0; i < angles.length; i++) {
angles[i] = (float) random.nextGaussian() * anglesMax[i];
if (angles[i] < anglesMin[i]) {
angles[i] = anglesMin[i];
} else if (angles[i] > anglesMax[i]) {
angles[i] = anglesMax[i];
}
}
// move head
motion.angleInterpolation(
new Variant(names), new Variant(angles), new Variant(times), true);
// wait
try {
Thread.sleep(Math.round(500 + time * 100));
} catch (Exception e) {
e.printStackTrace();
}
}
// reset angles
for (int i = 0; i < angles.length; i++) {
angles[i] = 0.0f;
}
// move head
motion.angleInterpolation(new Variant(names), new Variant(angles), new Variant(times), true);
// wait
try {
Thread.sleep(Math.round(time * 1000));
} catch (Exception e) {
e.printStackTrace();
}
// release stiffnesses
for (int i = 0; i < angles.length; i++) {
motion.setStiffnesses(new Variant(names[i]), new Variant(0.0f));
}
// update status
finished = true;
}
@Override
protected void updateUI() {
/*
// topology status
System.out.println("Topology has");
System.out.println(" " + getTopology().getNodeSet().size() + " nodes");
System.out.println(" " + getTopology().getEdgeSet().size() + " edges");
System.out.println(" " + getTopology().getClusterSet().size() + " clusters");
System.out.println();
*/
// interactor
lbCycleDuration.setText("Cycle Duration: " + getCycleDuration() + " ms");
lbCycleTime.setText("Cycle Time: " + getCycleTime() + " ms");
// topology
lbNumNodes.setText("Number of Nodes: " + getTopology().getNodeSet().size());
lbNumEdges.setText("Number of Edges: " + getTopology().getEdgeSet().size());
lbNumClusters.setText("Number of Clusters: " + getTopology().getClusterSet().size());
// input
if (patternInput != null) {
BufferedImage image = imageProcessorRGB.reconstructImageRGB(patternInput);
ppInput.getImagePanel().setImage(image);
} else {
ppInput.getImagePanel().setImage(IMAGE_BLANK);
}
// output
if (patternOutput != null) {
BufferedImage image = imageProcessorRGB.reconstructImageRGB(patternOutput);
int alpha = 255;
if (OUTPUT_ALPHA) {
alpha = (int) (getActivationOutput() * 200) + 55;
for (int y = 0; y < IMAGE_HEIGHT; y++) {
for (int x = 0; x < IMAGE_HEIGHT; x++) {
int rgb = image.getRGB(x, y);
Color color = new Color(rgb);
Color colorAlpha = new Color(color.getRed(), color.getGreen(), color.getBlue(), alpha);
image.setRGB(x, y, colorAlpha.getRGB());
}
}
}
ppOutput.getImagePanel().setImage(image);
ppOutput.getLbBottom().setText("Activation " + String.format("%.2f", getActivationOutput()));
} else {
ppOutput.getImagePanel().setImage(IMAGE_BLANK);
ppOutput.getLbBottom().setText("");
}
// clusters
pnClusters.removeAll();
for (Cluster cluster : getTopology().getClusterSet()) {
if (cluster.getNodes().size() >= getActivateClusterThreshold()) {
BufferedImage image = imageProcessorRGB.reconstructImageRGB(cluster.getMean());
int alpha = 255;
if (CLUSTERS_ALPHA) {
Double activation = getActivationMap().get(cluster);
if (activation != null) {
alpha = (int) Math.round(activation.doubleValue() * 200) + 55;
for (int y = 0; y < IMAGE_HEIGHT; y++) {
for (int x = 0; x < IMAGE_HEIGHT; x++) {
int rgb = image.getRGB(x, y);
Color color = new Color(rgb);
Color colorAlpha =
new Color(color.getRed(), color.getGreen(), color.getBlue(), alpha);
image.setRGB(x, y, colorAlpha.getRGB());
}
}
}
}
ImagePanel ipCluster = new ImagePanel(image);
String strClusterId = "Cluster " + cluster.getId();
String strNodes = cluster.getNodes().size() + " Nodes";
PatternPanel ppCluster = new PatternPanel(ipCluster, strClusterId, strNodes);
if (cluster == getTopology().getActivatedCluster()) {
ppCluster.setBackground(Color.RED);
}
pnClusters.add(ppCluster);
}
}
// update panel
panel.updateUI();
}