@Override
protected double[] readInput() {
// read image
byte[] imageBinary = null;
synchronized (video) {
Variant varImage = video.getImageRemote(NAME);
Variant varImageElement = varImage.getElement(6);
imageBinary = varImageElement.toBinary();
}
// create pattern
double[] pattern = new double[ORIGINAL_WIDTH * ORIGINAL_HEIGHT * BITS_PER_PIXEL];
for (int i = 0; i < pattern.length; i++) {
int unsignedByte = imageBinary[i] & 0xFF;
pattern[i] = unsignedByte / 255.0;
}
// create image
BufferedImage image = getBufferedImage(pattern, ORIGINAL_WIDTH, ORIGINAL_HEIGHT, 255);
// resize image
BufferedImage imageResized = new BufferedImage(IMAGE_WIDTH, IMAGE_HEIGHT, image.getType());
Graphics g = imageResized.getGraphics();
((Graphics2D) g)
.setRenderingHint(
RenderingHints.KEY_INTERPOLATION, RenderingHints.VALUE_INTERPOLATION_BILINEAR);
g.drawImage(image, 0, 0, IMAGE_WIDTH, IMAGE_HEIGHT, null);
image = imageResized;
// blur image
BufferedImage imageBlurred = new BufferedImage(IMAGE_WIDTH, IMAGE_HEIGHT, image.getType());
GAUSSIAN_FILTER.filter(image, imageBlurred);
image = imageBlurred;
// process image
pattern = imageProcessorRGB.processImageRGB(image);
// set input pattern
patternInput = pattern;
if (!cbLearn.isSelected()) {
return null;
}
return pattern;
}
@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();
}
public class NAOCameraFeatures extends InteractorUDP {
private static final String NAME = "NAOCameraFeatures";
private String host = "localhost";
private int port = 9559;
private ALVideoDeviceProxy video;
private static final int RESOLUTION = 0; // 0=160x120, 1=320x240, 2=640x480
private static final int COLOUR_SPACE = 11; // 0=Yuv, 11=RGB
private static final int BITS_PER_PIXEL = 3; // Yuv=1, RGB=3
private static final int FPS = 25;
private static final float BLUR_RADIUS = 0.0f; // 4.0f
private static final GaussianFilter GAUSSIAN_FILTER = new GaussianFilter(BLUR_RADIUS);
private static final boolean CAMERA_CALIBRATION = true; // perform initial camera calibration
private static final long CAMERA_CALIBRATION_TIME = 2000; // ms
private static final boolean CAMERA_DISABLE_ADJUSTMENTS =
true; // disable automatic camera adjustments
private static final long CAMERA_DISABLE_ADJUSTMENTS_TIME = 3000; // ms
private static final boolean CAMERA_MANUAL_EXPOSURE_GAIN = true; // set exposure and gain manually
private static final boolean CAMERA_MANUAL_WHITE_BALANCE = false; // set white balance manually
private static final boolean MOVE_HEAD = true;
private HeadMovement headMovement;
private static final int ORIGINAL_WIDTH = 160;
private static final int ORIGINAL_HEIGHT = 120;
private static final int IMAGE_WIDTH = 80;
private static final int IMAGE_HEIGHT = 60;
private ImageProcessorRGB imageProcessorRGB;
private static final int NUM_LEVELS = 5;
private static final int INPUT_DIM = ImageProcessorRGB.getFeatureVectorLength(NUM_LEVELS);
private double[] patternInput;
private double[] patternOutput;
private static final long CYCLE_TIME_DEFAULT = 200;
private JFrame frame;
private JPanel panel;
private JCheckBox cbLearn;
private JCheckBox cbRecall;
private JFileChooser fcSaveLoad;
private JPanel pnIO;
private PatternPanel ppInput;
private PatternPanel ppOutput;
private JPanel pnClusters;
private static final BufferedImage IMAGE_BLANK =
new BufferedImage(IMAGE_WIDTH, IMAGE_HEIGHT, BufferedImage.TYPE_INT_ARGB);
private static final boolean OUTPUT_ALPHA = false;
private static final boolean CLUSTERS_ALPHA = false;
private JSpinner spCycleTime;
private JLabel lbCycleDuration;
private JLabel lbCycleTime;
private JLabel lbNumNodes;
private JLabel lbNumEdges;
private JLabel lbNumClusters;
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();
}
@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
protected double[] readInput() {
// read image
byte[] imageBinary = null;
synchronized (video) {
Variant varImage = video.getImageRemote(NAME);
Variant varImageElement = varImage.getElement(6);
imageBinary = varImageElement.toBinary();
}
// create pattern
double[] pattern = new double[ORIGINAL_WIDTH * ORIGINAL_HEIGHT * BITS_PER_PIXEL];
for (int i = 0; i < pattern.length; i++) {
int unsignedByte = imageBinary[i] & 0xFF;
pattern[i] = unsignedByte / 255.0;
}
// create image
BufferedImage image = getBufferedImage(pattern, ORIGINAL_WIDTH, ORIGINAL_HEIGHT, 255);
// resize image
BufferedImage imageResized = new BufferedImage(IMAGE_WIDTH, IMAGE_HEIGHT, image.getType());
Graphics g = imageResized.getGraphics();
((Graphics2D) g)
.setRenderingHint(
RenderingHints.KEY_INTERPOLATION, RenderingHints.VALUE_INTERPOLATION_BILINEAR);
g.drawImage(image, 0, 0, IMAGE_WIDTH, IMAGE_HEIGHT, null);
image = imageResized;
// blur image
BufferedImage imageBlurred = new BufferedImage(IMAGE_WIDTH, IMAGE_HEIGHT, image.getType());
GAUSSIAN_FILTER.filter(image, imageBlurred);
image = imageBlurred;
// process image
pattern = imageProcessorRGB.processImageRGB(image);
// set input pattern
patternInput = pattern;
if (!cbLearn.isSelected()) {
return null;
}
return pattern;
}
@Override
protected void writeOutput(double[] pattern) {
// set output pattern
patternOutput = pattern;
}
@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();
}
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;
}
private class HeadMovement extends Thread {
private boolean running;
private boolean finished;
private Random random;
private ALMotionProxy motion;
private String[] names = {"HeadYaw", "HeadPitch"};
private float[] angles = {0.0f, 0.0f};
private float[] anglesMin = {-0.1f, -0.1f}; // radians, in degrees: -5.7, +5.7
private float[] anglesMax = {+0.1f, +0.1f}; // radians, in degrees: -5.7, +5.7
private float time = 1.0f;
private float[] times = {time, time};
@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 void finish() {
running = false;
}
public boolean isFinished() {
return finished;
}
}
public static void main(String[] args) {
NAOCameraFeatures interactor = new NAOCameraFeatures();
interactor.run();
}
}
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();
}