// Renders image from canon DSLR private static void canonSLR(final CanonCamera camera) { renderCanon = new JLabel(); if (canon = true) { while (canon = true) { try { Thread.sleep(50); BufferedImage canonimage = camera.downloadLiveView(); if (canonimage != null) { renderCanon.setIcon(new ImageIcon(canonimage)); renderCanon.setBounds((width / 2) - 528, 10, 1056, 704); renderCanon.setBorder(BorderFactory.createLineBorder(Color.LIGHT_GRAY, 3)); renderCanon.setToolTipText("Live Canon DSLR feed"); renderCanon.setCursor(Cursor.getPredefinedCursor(Cursor.CROSSHAIR_CURSOR)); window.add(renderCanon); webcam = false; nikon = false; System.out.println("Battery: " + camera.getProperty(kEdsPropID_BatteryLevel)); canonimage.flush(); } } catch (InterruptedException ex) { Logger.getLogger(Controls.class.getName()).log(Level.SEVERE, null, ex); } } } }
// renders buffered image from webcam private static void webcamRender() { renderWebcam = new JLabel(); if (webcam = true) { while (webcam = true) { try { Thread.sleep(20); BufferedImage webcamImage = (frame.frame().getBufferedImage()); if (webcamImage != null) { renderWebcam.setIcon(new ImageIcon(webcamImage)); renderWebcam.setBounds( Frame.grabber.getImageWidth(), 10, Frame.grabber.getImageWidth(), Frame.grabber.getImageHeight()); renderWebcam.setBorder(BorderFactory.createLineBorder(Color.LIGHT_GRAY, 3)); renderWebcam.setToolTipText("Live webcam feed"); renderWebcam.setMaximumSize(new Dimension(1056, 704)); renderWebcam.setCursor(Cursor.getPredefinedCursor(Cursor.CROSSHAIR_CURSOR)); canon = false; nikon = false; window.add(renderWebcam); webcamImage.flush(); } } catch (InterruptedException ex) { Logger.getLogger(Controls.class.getName()).log(Level.SEVERE, null, ex); } } } else { webcam = false; try { frame.grabber.stop(); } catch (FrameGrabber.Exception ex) { Logger.getLogger(Controls.class.getName()).log(Level.SEVERE, null, ex); } } }
public static void captureFrame() { // ---------These objects allow us to edit the variables used in the scalar polygon // recognition------ JLabel blueMaxValueLabel = new JLabel("Max Blue Value"); JTextField blueMaxValueField = new JTextField("255.0", 5); JLabel blueMinValueLabel = new JLabel("Min Blue Value"); JTextField blueMinValueField = new JTextField("100.0", 5); JLabel greenMaxValueLabel = new JLabel("Max Green Value"); JTextField greenMaxValueField = new JTextField("255.0", 5); JLabel greenMinValueLabel = new JLabel("Min Green Value"); JTextField greenMinValueField = new JTextField("215.0", 5); JLabel redMaxValueLabel = new JLabel("Max Red Value"); JTextField redMaxValueField = new JTextField("45.0", 5); JLabel redMinValueLabel = new JLabel("Min Red Value"); JTextField redMinValueField = new JTextField("0.0", 5); JLabel yLabel = new JLabel("Y"); JTextField yValue = new JTextField(5); boolean hotZone = false; // ---------------------------------End object lists------------------------------------- String source = "http://*****:*****@10.12.59.11/mjpg/video.mjpg"; FrameGrabber grabber = new OpenCVFrameGrabber(source); // new VideoInputFrameGrabber(0); try { Thread.sleep(1000); } catch (InterruptedException ex) { Logger.getLogger(CaptureImage.class.getName()).log(Level.SEVERE, null, ex); } CanvasFrame canvas = new CanvasFrame("WebCam"); canvas.setDefaultCloseOperation(javax.swing.JFrame.EXIT_ON_CLOSE); CanvasFrame before = new CanvasFrame("before"); before.setDefaultCloseOperation(javax.swing.JFrame.HIDE_ON_CLOSE); GridBagLayout gridBag = new GridBagLayout(); before.setLayout(gridBag); GridBagConstraints gbc = new GridBagConstraints(); gbc.fill = GridBagConstraints.VERTICAL; gridBag.setConstraints(before.getComponent(0), gbc); gbc.fill = GridBagConstraints.NONE; gbc.gridx = 1; gbc.gridy = 0; before.add(blueMaxValueLabel, gbc); gbc.gridx = 2; before.add(blueMaxValueField, gbc); gbc.gridx = 3; before.add(blueMinValueLabel, gbc); gbc.gridx = 4; before.add(blueMinValueField, gbc); // before.add(blueMinValueField); gbc.gridx = 1; gbc.gridy = 2; before.add(greenMaxValueLabel, gbc); gbc.gridx = 2; before.add(greenMaxValueField, gbc); gbc.gridx = 3; before.add(greenMinValueLabel, gbc); gbc.gridx = 4; before.add(greenMinValueField, gbc); // before.add(greenMinValueField); gbc.gridx = 1; gbc.gridy = 3; before.add(redMaxValueLabel, gbc); gbc.gridx = 2; before.add(redMaxValueField, gbc); gbc.gridx = 3; before.add(redMinValueLabel, gbc); gbc.gridx = 4; before.add(redMinValueField, gbc); before.add(yLabel); before.add(yValue); // before.add(redMinValueField); int numOfScreens = 39; // String loadingPic = "C:\\loadingScreen\\loadingScreen" // + (((int) (Math.random() * numOfScreens)) + 1) + ".bmp"; int failedGrabs = 0; NetworkTable.setTeam( 1259); // Capture image requires the setTeam method because it does not have use // Smartdashboard which already assigns a team number in the from of a network table NetworkTable.setIPAddress("10.12.59.2"); NetworkTable.setClientMode(); NetworkTable.getTable("SmartDashboard").putBoolean("TestTable", hotZone); while (true) { try { // try { // IplImage splashScreen = new IplImage(cvLoadImage(loadingPic)); // canvas.showImage(splashScreen); // } catch (Exception e) { // } grabber.start(); IplImage img; // IplImage hsv; // IplImage canny; IplImage displayImg; IplImage dst; PolygonFinder polyFind = new PolygonFinder(); // try { // NetworkTable.getTable("camera").putNumber("distance", 0); // NetworkTable.getTable("camera").putBoolean("hotZone", false); // } catch (Exception e) { // } while (true) { while (true) { try { // System.out.println("grabbing..."); img = new IplImage(grabber.grab()); displayImg = new IplImage(cvCreateImage(img.cvSize(), img.depth(), img.nChannels())); cvCopy(img, displayImg, null); // System.out.println("Frame GRABBED!"); break; } catch (Exception e) { failedGrabs++; System.out.println(failedGrabs); if (failedGrabs > 10) { grabber = new OpenCVFrameGrabber(source); grabber.start(); failedGrabs = 0; } continue; } } // PolygonFinder polyFind = new PolygonFinder(img); // ArrayList<PolygonStructure> polygons = polyFind.findPolygons(4); // for (int i = 0; i < polygons.size(); i++) { // polygons.get(i).drawShape(img, CvScalar.MAGENTA); // } // canvas.showImage(img); // return; if (img != null) { // cvSaveImage("originalcapture.jpg", img); } // IplImage gray = cvCreateImage(cvGetSize(img), img.depth(), 1 ); // hsv = new IplImage(cvCreateImage(cvGetSize(img), img.depth(), 3)); dst = new IplImage(cvCreateImage(cvGetSize(img), img.depth(), 1)); // cvCvtColor(img, gray, CV_RGB2GRAY); // cvCvtColor(img, hsv, CV_BGR2HSV); // if(hsv != null) { // cvSaveImage("hsv.jpg", hsv); // } // 30 20 0; 70 140 60 // 50 175 75 //// 100 255 225 // cvInRangeS(hsv, cvScalar(0, 200, 0, 0), cvScalar(150, 255, 255, 0), dst); // cvDrawLine(img, new CvPoint(0, 360), new CvPoint(639, 360), CvScalar.BLACK, 240, 8, 0); // cvInRangeS(img, cvScalar(100, 215, 0, 0), cvScalar(255, 255, 45, 0), dst); This is the // original // Code used to set max and min values for bgr scale in scalars VVV cvInRangeS( img, cvScalar( (new Double(blueMinValueField.getText())).doubleValue(), (new Double(greenMinValueField.getText())).doubleValue(), (new Double(redMinValueField.getText())).doubleValue(), 0), cvScalar( (new Double(blueMaxValueField.getText())).doubleValue(), (new Double(greenMaxValueField.getText())).doubleValue(), (new Double(redMaxValueField.getText())).doubleValue(), 0), dst); // NEED TO FLIP MAX IN MIN POSITION, MIN IS IN MAX POSITION // cvInRangeS(img, cvScalar(0, 0, 0, 0), cvScalar(255, 255, 255, 0), dst); // cvDilate( dst, dst, null, 1 ); cvSmooth(dst, dst, CV_MEDIAN, 1, 1, 0, 0); // cvCanny(gray, dst, 50, 100, 3); // cvCvtColor(hsv, gray, CV_RGB2GRAY); // canvas.showImage(img); // before.showImage(dst); IplImage newDst = new IplImage(cvCloneImage(img)); // cvCreateImage(cvGetSize(img), img.depth(), 3)); cvCvtColor(dst, newDst, CV_GRAY2BGR); // cvConvexHull2(newDst, null, CV_CLOCKWISE, 0); before.showImage(newDst); polyFind.setImage(newDst); ArrayList<PolygonStructure> polygons = new ArrayList<PolygonStructure>(); int i; // before.showImage(newDst); for (i = 4; i < 5; i++) { for (PolygonStructure ps : polyFind.findPolygons(i)) { polygons.add(ps); } } for (int c = 0; c < polygons.size(); c++) { for (int d = 0; d < polygons.size(); d++) { if (c == d) { break; } if (polygons .get(c) .getPolygon() .contains(polygons.get(d).getPolygon().getBounds2D())) { polygons.remove(d); if (d < c) { c--; } d--; } } } for (int c = 0; c < polygons.size(); c++) { for (int d = 0; d < polygons.size(); d++) { if (c == d) { break; } if (polygons .get(c) .getPolygon() .contains( polygons.get(d).getPolygon().getBounds().getCenterX(), polygons.get(d).getPolygon().getBounds().getCenterY())) { polygons.remove(d); if (d < c) { c--; } d--; } } } // if // (tempPoly.getVertex(0).x()<vertices[0].x()&&tempPoly.getVertex(1).x()>vertices[0].x() // // &&tempPoly.getVertex(1).y()<vertices[0].y()&&tempPoly.getVertex(2).y()>vertices[0].y()) // { // isInside = true; // break; // } for (i = 0; i < polygons.size(); i++) { if (polygons.size() < 2) { hotZone = false; } else { hotZone = true; } CvScalar polyColor = CvScalar.MAGENTA; switch (i) { case 0: { polyColor = CvScalar.RED; // System.out.println("Center X: " // + (320 - ((polygons.get(i).getVertex(3).x() // + polygons.get(i).getVertex(2).x()) / 2)) // + "\tCenter Y: " // + (240 - ((polygons.get(i).getVertex(3).y() // + (polygons.get(i).getVertex(2).y())) / 2))); double x = (320 - ((polygons.get(i).getVertex(3).x() + polygons.get(i).getVertex(2).x()) / 2)); double angle = (480 - ((polygons.get(i).getVertex(3).y() + (polygons.get(i).getVertex(2).y())) / 2)); // double distance = 5182.2043151825 * Math.pow(angle, -1); double distance = 514.7318 * Math.pow(angle - 220, -1.2); // double distance; if (angle < 317) { distance = -0.370786516853933 * angle + 133.977528089888; } else if (angle > 316 && angle < 325) { distance = -0.184697808038669 * angle + 74.9375184489134; } else if (angle > 324 && angle < 362) { distance = -0.140145789191636 * angle + 60.5198480748917; } else if (angle > 360) { distance = -0.0702258215380136 * angle + 35.3150512441271; } for (int c = 0; c < 4; c++) { System.out.println("Vertex " + c + ":" + polygons.get(i).getVertex(c).y()); } yValue.setText("" + angle); // hotZone = true; break; } case 1: { // Hot zone polyColor = CvScalar.BLUE; break; } case 2: { polyColor = CvScalar.GREEN; break; } case 3: { polyColor = CvScalar.YELLOW; break; } } // polygons.get(i).drawShape(img, polyColor); cvLine( displayImg, polygons.get(i).getVertices()[3], polygons.get(i).getVertices()[0], polyColor, 3, CV_AA, 0); cvLine( displayImg, polygons.get(i).getVertices()[0], polygons.get(i).getVertices()[1], polyColor, 3, CV_AA, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[0], 3, CvScalar.GRAY, 1, 8, 0); cvLine( displayImg, polygons.get(i).getVertices()[1], polygons.get(i).getVertices()[2], polyColor, 3, CV_AA, 0); cvDrawCircle( displayImg, polygons.get(i).getVertices()[1], 3, CvScalar.MAGENTA, 1, 8, 0); cvLine( displayImg, polygons.get(i).getVertices()[2], polygons.get(i).getVertices()[3], polyColor, 3, CV_AA, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[2], 3, CvScalar.BLACK, 1, 8, 0); cvDrawCircle(displayImg, polygons.get(i).getVertices()[3], 3, CvScalar.CYAN, 1, 8, 0); // System.out.println("Polygon " + i + "\t" + polygons.get(i).getVertices()[0]); } try { // NetworkTable.getTable("camera").beginTransaction(); // NetworkTable.getTable("camera").putNumber("distance", // distance); // NetworkTable.getTable("camera").putNumber("x", x); NetworkTable.getTable("camera").putBoolean("hotZone", hotZone); // NetworkTable.getTable("camera").endTransaction(); } catch (Exception e) { } if (displayImg != null) { // cvSaveImage("aftercapture.jpg", dst); cvDrawLine( displayImg, new CvPoint(300, 240), new CvPoint(340, 240), CvScalar.WHITE, 2, 8, 0); cvDrawLine( displayImg, new CvPoint(320, 220), new CvPoint(320, 260), CvScalar.WHITE, 2, 8, 0); canvas.showImage(displayImg); } else { // System.out.println("Null Image"); } // cvReleaseImage(gray); cvReleaseImage(newDst); // cvReleaseImage(img); // cvReleaseImage(hsv); cvReleaseImage(displayImg); cvReleaseImage(dst); // Thread.sleep(50); } // System.out.println("5"); // grabber.stop(); } catch (Exception e) { e.printStackTrace(); } grabber = new OpenCVFrameGrabber(source); } }