@Override
protected void shutdown() {
// pause interactor
pause();
// stop head movement
if (headMovement != null) {
System.out.print("Stopping head movement...");
headMovement.finish();
while (!headMovement.isFinished()) {
try {
Thread.sleep(500);
} catch (Exception e) {
e.printStackTrace();
}
System.out.print(".");
}
System.out.println("finished");
}
// unsubscribe
synchronized (video) {
video.unsubscribe(NAME);
}
System.exit(0);
}
@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;
}
public NAOCameraFeatures() {
super(NAME, INPUT_DIM);
// create image processor
imageProcessorRGB = new ImageProcessorRGB(IMAGE_WIDTH, IMAGE_HEIGHT, NUM_LEVELS);
System.out.println(
"Original input has " + (IMAGE_WIDTH * IMAGE_HEIGHT * BITS_PER_PIXEL) + " dimensions");
System.out.println(
"Feature vector has "
+ ImageProcessorRGB.getFeatureVectorLength(NUM_LEVELS)
+ " dimensions");
// set interactor parameters
setCycleTime(CYCLE_TIME_DEFAULT);
setInnerFeedback(false);
setActivateClusterThreshold(2);
setIterationCountStop(0);
// set topology parameters
SOINNM topology = getTopology();
topology.setNoiseLevel(0.0); // 0.0
topology.setUseFixedThreshold(true);
topology.setFixedThreshold(0.1);
topology.setAgeDead(100);
topology.setConnectNewNodes(true);
topology.setLambda(30);
topology.setEdgeMaxRemoval(true);
topology.setNodeNumSignalsMinRemoval(true);
topology.setReduceErrorInsertion(true);
topology.setSmallClusterRemoval(true);
topology.setC2Param(0.01);
topology.setC1Param(0.1);
topology.setClusterJoining(true);
topology.setJoinTolerance(1.0);
topology.setUseAbsoluteJoinTolerance(true);
topology.setJoinToleranceAbsolute(0.1);
topology.setJoiningIterationsMax(10);
// initialise NAO
try {
BufferedReader bReader = new BufferedReader(new FileReader("NAOHostPort.txt"));
host = bReader.readLine().trim();
port = Integer.parseInt(bReader.readLine().trim());
bReader.close();
} catch (Exception e) {
e.printStackTrace();
}
video = new ALVideoDeviceProxy(host, port);
video.setParam(18, 0); // camera: 0=front, 1=bottom
video.subscribe(NAME, RESOLUTION, COLOUR_SPACE, FPS);
// initial adjustment
if (CAMERA_CALIBRATION) {
System.out.println("Performing camera calibration...");
video.setParam(11, 1); // auto exposition (0-1)
video.setParam(12, 1); // auto white balance (0-1)
video.setParam(22, 1); // auto exposure correction algorithm (0-1)
try {
video.setParam(13, 1); // auto gain (0-1)
video.setParam(21, 1); // exposure correction (0-1)
video.setParam(26, 1); // auto balance (0-1)
video.setParam(27, 128); // auto balance target (0-255)
video.setParam(28, 128); // auto balance stable range (0-255)
} catch (Exception e) {
System.out.println("Laser head camera model detected!");
}
// wait
try {
Thread.sleep(CAMERA_CALIBRATION_TIME);
} catch (Exception e) {
e.printStackTrace();
}
}
// disable automatic adjustments
if (CAMERA_DISABLE_ADJUSTMENTS) {
System.out.println("Disabling automatic camera adjustments...");
video.setParam(11, 0); // auto exposition (0-1)
video.setParam(12, 0); // auto white balance (0-1)
video.setParam(22, 0); // auto exposure correction algorithm (0-1)
try {
video.setParam(13, 0); // auto gain (0-1)
video.setParam(21, 0); // exposure correction (0-1)
video.setParam(26, 0); // auto balance (0-1)
} catch (Exception e) {
System.out.println("Laser head camera model detected!");
}
// wait
try {
Thread.sleep(CAMERA_DISABLE_ADJUSTMENTS_TIME);
} catch (Exception e) {
e.printStackTrace();
}
}
// set exposure and gain manually
if (CAMERA_MANUAL_EXPOSURE_GAIN) {
System.out.println("Setting exposure and gain parameters...");
try {
video.getParam(13); // cause exception for laser head model
video.setParam(17, 512); // set exposure (0-4096), 512
video.setParam(6, 32); // set gain (0-255), 32
} catch (Exception e) {
System.out.println("Laser head camera model detected!");
video.setParam(17, 96); // set exposure (0-512), 96
video.setParam(6, 48); // set gain (0-255), 48
}
}
// set white balance manually
if (CAMERA_MANUAL_WHITE_BALANCE) {
System.out.println("Setting white balance parameters...");
try {
video.setParam(4, 80); // red chroma (0-255), 80
video.setParam(5, 160); // blue chroma (0-255), 160
video.setParam(25, 64); // auto white balance green gain (0-255), 64
video.setParam(29, 96); // balance blue (0-255), 96
video.setParam(30, 96); // balance red (0-255), 96
video.setParam(31, 96); // balance gain blue (0-255), 96
video.setParam(32, 96); // balance gain red (0-255), 96
} catch (Exception e) {
System.out.println("Laser head camera model detected!");
}
}
// start head movement
if (MOVE_HEAD) {
System.out.println("Starting head movement...");
headMovement = new HeadMovement();
headMovement.start();
}
// create frame
frame = new JFrame(NAME);
frame.setSize(600, 600);
frame.setDefaultCloseOperation(JFrame.DO_NOTHING_ON_CLOSE);
frame.addWindowListener(
new WindowAdapter() {
public void windowClosing(WindowEvent evt) {
shutdown();
}
});
frame.setLocation(0, 0);
frame.setVisible(true);
// create panel
panel = new JPanel();
panel.setLayout(new BorderLayout());
frame.add(panel);
// create top panel
JPanel pnTop = new JPanel();
pnTop.setLayout(new BorderLayout());
panel.add(pnTop, BorderLayout.PAGE_START);
// create panel for input and output
pnIO = new JPanel();
pnIO.setLayout(new FlowLayout(FlowLayout.LEFT));
pnIO.setBorder(BorderFactory.createTitledBorder("Input/Output"));
ImagePanel ipInput = new ImagePanel(IMAGE_BLANK);
ppInput = new PatternPanel(ipInput, "Input", "");
pnIO.add(ppInput);
ImagePanel ipOutput = new ImagePanel(IMAGE_BLANK);
ppOutput = new PatternPanel(ipOutput, "Output", "");
pnIO.add(ppOutput);
pnTop.add(pnIO, BorderLayout.LINE_START);
// create panel for controls
JPanel pnControls = new JPanel();
pnControls.setLayout(new BoxLayout(pnControls, BoxLayout.Y_AXIS));
pnControls.setBorder(BorderFactory.createTitledBorder("Controls"));
pnTop.add(pnControls);
// create panel for interactor
JPanel pnInteractor = new JPanel();
pnInteractor.setLayout(new BoxLayout(pnInteractor, BoxLayout.X_AXIS));
pnControls.add(pnInteractor);
spCycleTime = new JSpinner(new SpinnerNumberModel((int) CYCLE_TIME_DEFAULT, 100, 1000, 100));
spCycleTime.setMinimumSize(new Dimension(75, 25));
spCycleTime.setMaximumSize(new Dimension(75, 25));
pnInteractor.add(spCycleTime);
JButton btCycleTime = new JButton("Set Cycle Time");
btCycleTime.addActionListener(
new ActionListener() {
@Override
public void actionPerformed(ActionEvent e) {
setCycleTime(Long.parseLong(spCycleTime.getValue().toString()));
}
});
pnInteractor.add(btCycleTime);
JPanel pnCycleStatus = new JPanel();
pnCycleStatus.setLayout(new BoxLayout(pnCycleStatus, BoxLayout.Y_AXIS));
pnInteractor.add(pnCycleStatus);
lbCycleTime = new JLabel("Cycle Time: " + getCycleTime() + " ms");
pnCycleStatus.add(lbCycleTime);
lbCycleDuration = new JLabel("Cycle Duration: - ms");
pnCycleStatus.add(lbCycleDuration);
JPanel pnLearnRecall = new JPanel();
pnLearnRecall.setLayout(new BoxLayout(pnLearnRecall, BoxLayout.X_AXIS));
pnControls.add(pnLearnRecall);
cbLearn = new JCheckBox("Learn");
cbLearn.setSelected(true);
pnLearnRecall.add(cbLearn);
cbRecall = new JCheckBox("Recall");
cbRecall.setSelected(true);
cbRecall.setEnabled(false);
pnLearnRecall.add(cbRecall);
// create panel for topology
JPanel pnTopology = new JPanel();
pnTopology.setLayout(new GridLayout(1, 2));
pnControls.add(pnTopology);
JPanel pnTopologyStatus = new JPanel();
pnTopologyStatus.setLayout(new BoxLayout(pnTopologyStatus, BoxLayout.Y_AXIS));
pnTopology.add(pnTopologyStatus);
lbNumNodes = new JLabel("Number of Nodes: " + getTopology().getNodeSet().size());
pnTopologyStatus.add(lbNumNodes);
lbNumEdges = new JLabel("Number of Edges: " + getTopology().getEdgeSet().size());
pnTopologyStatus.add(lbNumEdges);
lbNumClusters = new JLabel("Number of Clusters: " + getTopology().getClusterSet().size());
pnTopologyStatus.add(lbNumClusters);
JPanel pnTopologyControls = new JPanel();
pnTopologyControls.setLayout(new BoxLayout(pnTopologyControls, BoxLayout.Y_AXIS));
pnTopology.add(pnTopologyControls);
fcSaveLoad = new JFileChooser();
fcSaveLoad.setSelectedFile(new File(System.getProperty("user.dir") + "/" + NAME + ".xml"));
JButton btClear = new JButton("Clear topology");
btClear.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
getTopology().clear();
}
});
pnTopologyControls.add(btClear);
JButton btSave = new JButton("Save topology");
btSave.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
if (fcSaveLoad.showSaveDialog(frame) == JFileChooser.APPROVE_OPTION) {
fileSave = fcSaveLoad.getSelectedFile();
}
}
});
pnTopologyControls.add(btSave);
JButton btLoad = new JButton("Load topology");
btLoad.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
if (fcSaveLoad.showOpenDialog(frame) == JFileChooser.APPROVE_OPTION) {
fileLoad = fcSaveLoad.getSelectedFile();
}
}
});
pnTopologyControls.add(btLoad);
JButton btInsert = new JButton("Insert topology");
btInsert.addActionListener(
new ActionListener() {
public void actionPerformed(ActionEvent e) {
if (fcSaveLoad.showOpenDialog(frame) == JFileChooser.APPROVE_OPTION) {
fileInsert = fcSaveLoad.getSelectedFile();
}
}
});
pnTopologyControls.add(btInsert);
// create panel for clusters
pnClusters = new JPanel();
pnClusters.setBorder(BorderFactory.createTitledBorder("Clusters"));
pnClusters.setLayout(new WrapLayout(WrapLayout.LEFT));
JScrollPane spClusters = new JScrollPane(pnClusters);
panel.add(spClusters);
// update panel
panel.updateUI();
}