@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); }
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(); }