public void cleanup() {
// Shut down Kinect
if (kinectContext != null) {
if (kinect != null) {
kinect.close();
}
}
kinectContext.shutdown();
}
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();
}
public Sculptnect() {
// Set up Kinect
kinectContext = Freenect.createContext();
if (kinectContext.numDevices() > 0) {
kinect = kinectContext.openDevice(0);
} else {
System.err.println("Error, no Kinect detected.");
}
GLProfile.initSingleton();
GLProfile glp = GLProfile.getDefault();
// Set the OpenGL canvas creation parameters
GLCapabilities caps = new GLCapabilities(glp);
caps.setRedBits(8);
caps.setGreenBits(8);
caps.setBlueBits(8);
caps.setDepthBits(32);
final SculptScene scene = new SculptScene();
final Frame frame = new Frame();
final GLCanvas canvas = new GLCanvas(caps);
canvas.addGLEventListener(scene);
// Add and start a display link
final FPSAnimator animator = new FPSAnimator(canvas, 60, true);
frame.add(canvas);
frame.setSize(800, 800);
GraphicsEnvironment environment = GraphicsEnvironment.getLocalGraphicsEnvironment();
GraphicsDevice device = environment.getDefaultScreenDevice();
frame.setUndecorated(true);
device.setFullScreenWindow(frame);
frame.setVisible(true);
canvas.requestFocus();
animator.start();
// Add listener to respond to window closing
frame.addWindowListener(
new WindowAdapter() {
@Override
public void windowClosing(WindowEvent e) {
super.windowClosing(e);
exit(0);
}
});
// Add key listener
canvas.addKeyListener(
new KeyAdapter() {
@Override
public void keyPressed(KeyEvent event) {
switch (event.getKeyCode()) {
case KeyEvent.VK_ESCAPE:
exit(0);
break;
case KeyEvent.VK_SPACE:
dump = true;
break;
case 'R':
if (depthRecord == null) {
try {
String file = new Date().getTime() + ".raw.gz";
depthRecord = new KinectDepthRecord(file);
System.out.println("Recording started to " + file);
} catch (Exception e) {
e.printStackTrace();
}
} else {
depthRecord.close();
depthRecord = null;
System.out.println("Recording stopped");
}
break;
case KeyEvent.VK_LEFT:
scene.modifyModelRotationY(-1.0f);
break;
case KeyEvent.VK_RIGHT:
scene.modifyModelRotationY(1.0f);
break;
case KeyEvent.VK_UP:
scene.modifyModelRotationX(1.0f);
break;
case KeyEvent.VK_DOWN:
scene.modifyModelRotationX(-1.0f);
break;
case 'O':
scene.removeRandomSphere();
break;
case 'K':
scene.resetModel();
break;
case 'F':
GraphicsEnvironment environment = GraphicsEnvironment.getLocalGraphicsEnvironment();
GraphicsDevice device = environment.getDefaultScreenDevice();
if (device.getFullScreenWindow() != null) {
device.setFullScreenWindow(null);
frame.dispose();
frame.setUndecorated(false);
frame.setVisible(true);
} else {
frame.dispose();
frame.setUndecorated(true);
device.setFullScreenWindow(frame);
}
canvas.requestFocus();
break;
case 'T':
scene.toggleTurningMode();
break;
case 'I':
insertKinectPlaceholder(scene);
break;
case 'M':
scene.toggleRenderMode();
break;
case 'D':
scene.dumpMesh();
break;
}
}
});
// Create mouse listener
MouseAdapter mouseAdapter =
new MouseAdapter() {
int prevX, prevY;
@Override
public void mousePressed(MouseEvent e) {
prevX = e.getX();
prevY = e.getY();
}
@Override
public void mouseDragged(MouseEvent e) {
scene.mouseDragged(prevX, prevY, e.getX(), e.getY());
prevX = e.getX();
prevY = e.getY();
}
};
// Add the mouse listener
canvas.addMouseMotionListener(mouseAdapter);
canvas.addMouseListener(mouseAdapter);
if (kinect != null) {
kinect.setDepthFormat(DepthFormat.D10BIT);
kinect.startDepth(
new DepthHandler() {
@Override
public void onFrameReceived(FrameMode arg0, ByteBuffer arg1, int arg2) {
if (dump) {
// Dump a raw depth image
arg1.rewind();
FileOutputStream fos = null;
try {
fos = new FileOutputStream(new Date().getTime() + ".raw");
while (arg1.remaining() > 0) {
fos.write(arg1.get());
}
fos.close();
} catch (Exception e) {
e.printStackTrace();
}
dump = false;
}
scene.updateKinect(arg1);
if (depthRecord != null) {
try {
depthRecord.addFrame(arg1);
} catch (Exception e) {
e.printStackTrace();
}
}
}
});
} else {
insertKinectPlaceholder(scene);
}
// Set up Playstation 2 controller
Joystick joystick = JoystickManager.getJoystick(Controller.Type.STICK);
if (joystick != null) {
joystick.setJoystickListener(scene);
}
}