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matereal: 提交


Commit MetaInfo

修订版178 (tree)
时间2010-09-19 17:12:23
作者arc

Log Message

snapshot

更改概述

差异

--- napkit/tags/napkit-m22/src.sample/sample/Step2_PaintEntity.java (revision 177)
+++ napkit/tags/napkit-m22/src.sample/sample/Step2_PaintEntity.java (nonexistent)
@@ -1,118 +0,0 @@
1-package sample;
2-
3-import java.awt.Color;
4-
5-import java.awt.Graphics;
6-import java.awt.Graphics2D;
7-import java.awt.Shape;
8-import java.awt.geom.Rectangle2D;
9-import java.util.Set;
10-import javax.swing.JFrame;
11-
12-import jp.digitalmuseum.mr.Matereal;
13-import jp.digitalmuseum.mr.entity.Entity;
14-import jp.digitalmuseum.mr.entity.EntityImpl;
15-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17-import jp.digitalmuseum.mr.gui.utils.EntityPainter;
18-import jp.digitalmuseum.mr.service.MarkerDetector;
19-import jp.digitalmuseum.mr.service.Camera;
20-import jp.digitalmuseum.napkit.NapDetectionResult;
21-import jp.digitalmuseum.napkit.NapMarker;
22-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
23-import jp.digitalmuseum.utils.ScreenPosition;
24-import jp.digitalmuseum.utils.ScreenRectangle;
25-
26-/**
27- * Run a marker detection and show results.
28- *
29- * @author Jun KATO
30- */
31-public class Step2_PaintEntity {
32-
33- public static void main(String[] args) {
34- new Step2_PaintEntity();
35- }
36-
37- public Step2_PaintEntity() {
38-
39- // Run a camera.
40- final Camera camera = new Camera();
41- camera.start();
42-
43- // Run a marker detector.
44- final MarkerDetector detector = new MarkerDetector();
45- detector.loadCameraParameter("calib_qcam.dat");
46- detector.start();
47-
48- // Show a configuration window.
49- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
50-
51- // Detect a marker.
52- final NapMarker marker = new NapMarker("markers\\4x4_78.patt",45);
53- final Entity dummy = new EntityImpl("test") {
54- public void dispose() {}
55- public Shape getShape() { return new Rectangle2D.Double(-10, -10, 20, 20); }
56- };
57- detector.put(marker, dummy);
58-
59- // Initialize a painter
60- final EntityPainter painter = new EntityPainter();
61-
62- // Show detection results in real-time.
63- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
64- new ImageProviderPanel(camera) {
65- private static final long serialVersionUID = 1L;
66- @Override public void paintComponent(Graphics g) {
67- super.paintComponent(g);
68-
69- // Get detected results.
70- final Set<NapDetectionResult> results = detector.getResults();
71-
72- // Draw detected number of squares.
73- drawString(g, "detected: "+(results == null ? 0 : results.size()),
74- 10, getHeight()-10);
75-
76- // Draw each detected result.
77- for (final NapDetectionResult result : results) {
78-
79- // Draw corners
80- final ScreenRectangle corners = result.getSquare();
81- corners.draw((Graphics2D) g, true);
82-
83- // Draw information for the square.
84- final ScreenPosition point = result.getPosition();
85- g.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
86- g.drawRect(point.getX()+55, point.getY()+23, 200, 40);
87- drawString(g, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
88- drawString(g, "Position: "+point, point.getX()+64, point.getY()+56);
89- }
90-
91- // Paint a entity
92- painter.paint(g, dummy);
93- }
94-
95- /**
96- * Draw a string with 1px simple black border.
97- */
98- private void drawString(Graphics g, String s, int x, int y) {
99- g.setColor(Color.black);
100- g.drawString(s, x+1, y);
101- g.drawString(s, x-1, y);
102- g.drawString(s, x, y-1);
103- g.drawString(s, x, y+1);
104- g.setColor(Color.orange);
105- g.drawString(s, x, y);
106- }
107- }) {
108- private static final long serialVersionUID = 1L;
109- @Override public void dispose() {
110- configFrame.dispose();
111- super.dispose();
112- Matereal.getInstance().dispose();
113- }
114- };
115- frame.setFrameSize(camera.getWidth(), camera.getHeight());
116- frame.setResizable(false);
117- }
118-}
--- napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndRotate.java (revision 177)
+++ napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndRotate.java (nonexistent)
@@ -1,123 +0,0 @@
1-package sample;
2-
3-import java.awt.BasicStroke;
4-import java.awt.Color;
5-import java.awt.Graphics;
6-import java.awt.Graphics2D;
7-import java.awt.event.MouseAdapter;
8-import java.awt.event.MouseEvent;
9-
10-import javax.swing.JFrame;
11-
12-import jp.digitalmuseum.mr.Matereal;
13-import jp.digitalmuseum.mr.entity.MindstormsNXT;
14-import jp.digitalmuseum.mr.entity.Robot;
15-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17-import jp.digitalmuseum.mr.service.MarkerDetector;
18-import jp.digitalmuseum.mr.service.Camera;
19-import jp.digitalmuseum.mr.task.RotateTo;
20-import jp.digitalmuseum.mr.task.Task;
21-import jp.digitalmuseum.napkit.NapMarker;
22-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
23-import jp.digitalmuseum.utils.Position;
24-import jp.digitalmuseum.utils.ScreenPosition;
25-//import jp.digitalmuseum.mr.entity.Noopy;
26-
27-
28-/**
29- * Show a frame with which an end-user can specify in which direction a robot should face.
30- *
31- * @author Jun KATO
32- */
33-public class Step4_ClickAndRotate {
34- private Task workingTask;
35- final private ScreenPosition clickedPosition = new ScreenPosition();
36-
37- public static void main(String[] args) {
38- new Step4_ClickAndRotate();
39- }
40-
41- public Step4_ClickAndRotate() {
42-
43- final Robot robot = new MindstormsNXT("Mindstorms NXT", "btspp://00165306523e");
44-
45- // Run a camera.
46- final Camera camera = new Camera();
47- camera.start();
48-
49- // Run a marker detector.
50- final MarkerDetector detector = new MarkerDetector();
51- detector.put(new NapMarker("markers/4x4_78.patt", 4.5), robot);
52- detector.start();
53-
54- // Show a configuration window.
55- final JFrame configFrame = new DisposeOnCloseFrame(
56- new TypicalMDCPane(detector));
57-
58- // Initialize a main panel.
59- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
60- private static final long serialVersionUID = 1L;
61- @Override public void paintComponent(Graphics g) {
62- super.paintComponent(g);
63- final Graphics2D g2 = (Graphics2D) g;
64- g2.translate(getOffsetX(), getOffsetY());
65-
66- // Paint detection results.
67- g2.setStroke(new BasicStroke(4));
68- g2.setColor(Color.orange);
69- detector.paint(g2);
70-
71- // Paint the destination.
72- if (clickedPosition != null) {
73- g2.setColor(Color.green);
74- g2.fillOval(
75- clickedPosition.getX()-5,
76- clickedPosition.getY()-5,
77- 10, 10);
78- }
79- }
80- @Override public void dispose() {
81- configFrame.dispose();
82- super.dispose();
83- Matereal.getInstance().dispose();
84- }
85- };
86-
87- // Add a mouse listener.
88- panel.addMouseListener(new MouseAdapter() {
89- final private Position destination =
90- new Position();
91- private Position position =
92- new Position();
93- @Override public void mouseClicked(MouseEvent e) {
94- if (e.getButton() == MouseEvent.BUTTON1) {
95-
96- // Get a clicked position.
97- clickedPosition.set(e.getX(), e.getY());
98- panel.getScreenToImageOut(clickedPosition, clickedPosition);
99- camera.screenToRealOut(clickedPosition, destination);
100- detector.getPositionOut(robot, position);
101-
102- final double destinationDirection =
103- position.getRelativeDirection(destination);
104-
105- // If another task is already working, stop it.
106- if (workingTask != null && workingTask.isStarted()) {
107- workingTask.stop();
108- }
109-
110- // Assign a task rotating to a certain direction.
111- workingTask = new RotateTo(destinationDirection);
112- if (workingTask.assign(robot)) {
113- workingTask.start();
114- }
115- }
116- }
117- });
118-
119- // Show a world.
120- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel);
121- frame.setFrameSize(560, 420);
122- }
123-}
--- napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndFollow.java (revision 177)
+++ napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndFollow.java (nonexistent)
@@ -1,125 +0,0 @@
1-package sample;
2-
3-import java.awt.BasicStroke;
4-
5-import java.awt.Color;
6-import java.awt.Graphics;
7-import java.awt.Graphics2D;
8-import java.awt.event.MouseAdapter;
9-import java.awt.event.MouseEvent;
10-
11-import javax.swing.JFrame;
12-
13-import jp.digitalmuseum.mr.Matereal;
14-import jp.digitalmuseum.mr.entity.NetTansor;
15-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17-import jp.digitalmuseum.mr.service.MarkerDetector;
18-import jp.digitalmuseum.mr.service.Camera;
19-import jp.digitalmuseum.mr.task.Follow;
20-import jp.digitalmuseum.mr.task.Move;
21-import jp.digitalmuseum.mr.task.Task;
22-import jp.digitalmuseum.napkit.NapMarker;
23-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
24-import jp.digitalmuseum.utils.Position;
25-import jp.digitalmuseum.utils.ScreenPosition;
26-
27-
28-/**
29- * Show a frame with a view of the world coordinate.
30- *
31- * @author Jun KATO
32- */
33-public class Step4_ClickAndFollow {
34- private Task workingTask;
35- private ScreenPosition clickedPosition;
36-
37- public static void main(String[] args) {
38- new Step4_ClickAndFollow();
39- }
40-
41- public Step4_ClickAndFollow() {
42-
43- // Initialize a robot.
44- final NetTansor robot = new NetTansor("NetTansor Web", "http://192.168.1.103:8081");
45- final NetTansor robot2 = new NetTansor("NetTansor", "http://192.168.1.104:8081");
46-
47- // Run a camera.
48- final Camera camera = new Camera("filter:1");
49- camera.start();
50-
51- // Run a marker detector.
52- final MarkerDetector detector = new MarkerDetector();
53- detector.setImageProvider(camera);
54- detector.put(new NapMarker("markers/4x4_112.patt", 4.5), robot);
55- detector.put(new NapMarker("markers/4x4_78.patt", 4.5), robot2);
56- detector.start();
57-
58- // Show a configuration window.
59- final JFrame configFrame = new DisposeOnCloseFrame(
60- new TypicalMDCPane(detector));
61-
62- // Initialize a main panel.
63- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
64- private static final long serialVersionUID = 1L;
65- @Override public void paintComponent(Graphics g) {
66- super.paintComponent(g);
67- final Graphics2D g2 = (Graphics2D) g;
68-
69- // Paint detection results.
70- g2.setStroke(new BasicStroke(4));
71- g2.setColor(Color.orange);
72- detector.paint(g2);
73-
74- // Paint the destination.
75- if (clickedPosition != null) {
76- g2.setColor(Color.green);
77- g2.fillOval(
78- clickedPosition.getX()-5,
79- clickedPosition.getY()-5,
80- 10, 10);
81- }
82- }
83- @Override public void dispose() {
84- configFrame.dispose();
85- super.dispose();
86- Matereal.getInstance().dispose();
87- }
88- };
89-
90- // Add a mouse listener.
91- panel.addMouseListener(new MouseAdapter() {
92- final private ScreenPosition clickedPosition =
93- new ScreenPosition();
94- final private Position destination =
95- new Position();
96- @Override public void mouseClicked(MouseEvent e) {
97- if (e.getButton() == MouseEvent.BUTTON1) {
98-
99- // Get a clicked position.
100- clickedPosition.set(e.getX(), e.getY());
101- panel.getScreenToImageOut(clickedPosition, clickedPosition);
102- camera.screenToRealOut(clickedPosition, destination);
103-
104- // Assign a task moving to the position.
105- if (workingTask != null && workingTask.isStarted()) {
106- workingTask.stop();
107- }
108- workingTask = new Move(destination);
109- if (workingTask.assign(robot)) {
110- workingTask.start();
111- }
112- }
113- }
114- });
115-
116- final Follow follow = new Follow(robot);
117- if (follow.assign(robot2)) {
118- follow.start();
119- }
120-
121- // Show a world.
122- final JFrame frame = new DisposeOnCloseFrame(panel);
123- frame.setSize(710, 660);
124- }
125-}
--- napkit/tags/napkit-m22/src.sample/sample/Step2_RunDetectMarker.java (revision 177)
+++ napkit/tags/napkit-m22/src.sample/sample/Step2_RunDetectMarker.java (nonexistent)
@@ -1,114 +0,0 @@
1-package sample;
2-
3-import java.awt.BasicStroke;
4-
5-import java.awt.Color;
6-import java.awt.Graphics;
7-import java.awt.Graphics2D;
8-import java.awt.Stroke;
9-import java.util.Set;
10-import javax.swing.JFrame;
11-
12-import jp.digitalmuseum.mr.Matereal;
13-import jp.digitalmuseum.mr.entity.Entity;
14-import jp.digitalmuseum.mr.entity.EntityImpl;
15-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17-import jp.digitalmuseum.mr.service.MarkerDetector;
18-import jp.digitalmuseum.mr.service.Camera;
19-import jp.digitalmuseum.napkit.NapDetectionResult;
20-import jp.digitalmuseum.napkit.NapMarker;
21-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
22-import jp.digitalmuseum.utils.ScreenPosition;
23-
24-/**
25- * Run a marker detection and show results.
26- *
27- * @author Jun KATO
28- */
29-public class Step2_RunDetectMarker {
30-
31- public static void main(String[] args) {
32- new Step2_RunDetectMarker();
33- }
34-
35- public Step2_RunDetectMarker() {
36-
37- // Run a camera.
38- final Camera camera = new Camera();
39- camera.start();
40-
41- // Run a marker detector.
42- final MarkerDetector detector = new MarkerDetector();
43- detector.loadCameraParameter("calib_qcam.dat");
44- detector.start();
45-
46- // Show a configuration window.
47- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
48-
49- // Detect a marker.
50- final NapMarker marker = new NapMarker("markers\\4x4_743.patt",120);
51- final Entity dummy = new EntityImpl("test");
52- detector.put(marker, dummy);
53-
54- // Show detection results in real-time.
55- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
56- new ImageProviderPanel(camera) {
57- private static final long serialVersionUID = 1L;
58- private transient Stroke stroke;
59- @Override public void paintComponent(Graphics g) {
60- super.paintComponent(g);
61- final Graphics2D g2 = (Graphics2D) g;
62- if (stroke == null) {
63- stroke = new BasicStroke(5);
64- }
65- g2.setStroke(stroke);
66- g2.translate(getOffsetX(), getOffsetY());
67-
68- // Get detected results.
69- final Set<NapDetectionResult> results = detector.getResults();
70-
71- // Draw each detected result.
72- for (final NapDetectionResult result : results) {
73-
74- // Draw corners
75- g.setColor(Color.orange);
76- detector.paint(g2, result);
77-
78- // Draw information for the square.
79- g.setColor(Color.cyan);
80- final ScreenPosition point = result.getPosition();
81- g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
82- g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);
83- drawString(g2, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
84- drawString(g2, "Position: "+point, point.getX()+64, point.getY()+56);
85- }
86-
87- // Draw detected number of squares.
88- drawString(g2, "detected: "+(results == null ? 0 : results.size()),
89- 10, getHeight()-10);
90- }
91-
92- /**
93- * Draw a string with 1px simple black border.
94- */
95- private void drawString(Graphics g, String s, int x, int y) {
96- g.setColor(Color.black);
97- g.drawString(s, x+1, y);
98- g.drawString(s, x-1, y);
99- g.drawString(s, x, y-1);
100- g.drawString(s, x, y+1);
101- g.setColor(Color.cyan);
102- g.drawString(s, x, y);
103- }
104- }) {
105- private static final long serialVersionUID = 1L;
106- @Override public void dispose() {
107- configFrame.dispose();
108- super.dispose();
109- Matereal.getInstance().dispose();
110- }
111- };
112- frame.setFrameSize(camera.getWidth(), camera.getHeight());
113- }
114-}
--- napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndRun.java (revision 177)
+++ napkit/tags/napkit-m22/src.sample/sample/Step4_ClickAndRun.java (nonexistent)
@@ -1,122 +0,0 @@
1-package sample;
2-
3-import java.awt.BasicStroke;
4-
5-import java.awt.Color;
6-import java.awt.Graphics;
7-import java.awt.Graphics2D;
8-import java.awt.event.MouseAdapter;
9-import java.awt.event.MouseEvent;
10-
11-import javax.swing.JFrame;
12-
13-import jp.digitalmuseum.mr.Matereal;
14-import jp.digitalmuseum.mr.entity.MindstormsNXT;
15-import jp.digitalmuseum.mr.entity.Robot;
16-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
17-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
18-import jp.digitalmuseum.mr.resource.WheelsController;
19-import jp.digitalmuseum.mr.service.MarkerDetector;
20-import jp.digitalmuseum.mr.service.Camera;
21-import jp.digitalmuseum.mr.task.Move;
22-import jp.digitalmuseum.mr.task.Task;
23-import jp.digitalmuseum.napkit.NapMarker;
24-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
25-import jp.digitalmuseum.utils.Position;
26-import jp.digitalmuseum.utils.ScreenPosition;
27-
28-/**
29- * Show a frame with a view of the world coordinate.
30- *
31- * @author Jun KATO
32- */
33-public class Step4_ClickAndRun {
34- private Task moveTo;
35- final private ScreenPosition goalPosition = new ScreenPosition();
36-
37- public static void main(String[] args) {
38- new Step4_ClickAndRun();
39- }
40-
41- public Step4_ClickAndRun() {
42-
43- // Destination is not specified at first.
44- goalPosition.setNotFound(true);
45-
46- // Initialize a robot.
47- final Robot robot = new MindstormsNXT("Mindstorms NXT", "btspp://00165305b308");
48-
49- // Run a camera.
50- final Camera camera = new Camera();
51- camera.start();
52-
53- // Run a marker detector.
54- final MarkerDetector detector = new MarkerDetector();
55- detector.setImageProvider(camera);
56- detector.put(new NapMarker("markers/4x4_743.patt", 12), robot);
57- detector.start();
58-
59- // Show a configuration window.
60- final JFrame configFrame = new DisposeOnCloseFrame(
61- new TypicalMDCPane(detector));
62-
63- // Initialize a main panel.
64- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
65- private static final long serialVersionUID = 1L;
66- @Override public void paintComponent(Graphics g) {
67- super.paintComponent(g);
68- final Graphics2D g2 = (Graphics2D) g;
69- g2.translate(getOffsetX(), getOffsetY());
70-
71- // Paint detection results.
72- g2.setStroke(new BasicStroke(4));
73- g2.setColor(Color.orange);
74- detector.paint(g2);
75-
76- // Paint the destination.
77- if (!goalPosition.isNotFound()) {
78- g2.setColor(Color.green);
79- g2.fillOval(
80- goalPosition.getX()-5,
81- goalPosition.getY()-5,
82- 10, 10);
83- }
84- }
85- @Override public void dispose() {
86- configFrame.dispose();
87- super.dispose();
88- Matereal.getInstance().dispose();
89- }
90- };
91-
92- // Add a mouse listener.
93- panel.addMouseListener(new MouseAdapter() {
94- final private Position destination =
95- new Position();
96-
97- @Override public void mouseClicked(MouseEvent e) {
98- if (e.getButton() == MouseEvent.BUTTON1) {
99-
100- // Get a clicked position.
101- goalPosition.set(e.getX(), e.getY());
102- panel.getScreenToImageOut(goalPosition, goalPosition);
103- camera.screenToRealOut(goalPosition, destination);
104-
105- // Assign a task moving to the position.
106- final Task task = robot.getAssignedTask(WheelsController.class);
107- if (task != null) {
108- task.stop();
109- }
110- moveTo = new Move(camera.screenToReal(goalPosition));
111- if (moveTo.assign(robot)) {
112- moveTo.start();
113- }
114- }
115- }
116- });
117-
118- // Show a world.
119- final JFrame frame = new DisposeOnCloseFrame(panel);
120- frame.setSize(710, 660);
121- }
122-}
--- napkit/tags/napkit-m22/src.sample.old/sample/Step2_RunDetectMarker.java (nonexistent)
+++ napkit/tags/napkit-m22/src.sample.old/sample/Step2_RunDetectMarker.java (revision 178)
@@ -0,0 +1,127 @@
1+package sample;
2+
3+import java.awt.BasicStroke;
4+
5+import java.awt.Color;
6+import java.awt.Graphics;
7+import java.awt.Graphics2D;
8+import java.awt.Stroke;
9+import java.util.Set;
10+import javax.swing.JFrame;
11+import javax.swing.JOptionPane;
12+
13+import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
14+import jp.digitalmuseum.mr.Matereal;
15+import jp.digitalmuseum.mr.entity.Entity;
16+import jp.digitalmuseum.mr.entity.EntityImpl;
17+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
18+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
19+import jp.digitalmuseum.mr.service.MarkerDetector;
20+import jp.digitalmuseum.mr.service.Camera;
21+import jp.digitalmuseum.napkit.NapDetectionResult;
22+import jp.digitalmuseum.napkit.NapMarker;
23+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
24+import jp.digitalmuseum.utils.ScreenPosition;
25+
26+/**
27+ * Run a marker detection and show results.
28+ *
29+ * @author Jun KATO
30+ */
31+public class Step2_RunDetectMarker {
32+
33+ public static void main(String[] args) {
34+ new Step2_RunDetectMarker();
35+ }
36+
37+ public Step2_RunDetectMarker() {
38+
39+ // Run a camera.
40+ // Let users select a device to capture images.
41+ final String identifier = (String) JOptionPane.showInputDialog(null,
42+ "Select a device to capture images.", "Device list",
43+ JOptionPane.QUESTION_MESSAGE, null, new VideoCaptureFactoryImpl()
44+ .queryIdentifiers(), null);
45+ Camera camera;
46+ if ((identifier != null) && (identifier.length() > 0)) {
47+ camera = new Camera(identifier);
48+ } else {
49+ camera = new Camera();
50+ }
51+ camera.setSize(800, 600);
52+ camera.start();
53+
54+ // Run a marker detector.
55+ final MarkerDetector detector = new MarkerDetector();
56+ detector.loadCameraParameter("calib_qcam.dat");
57+ detector.start();
58+
59+ // Show a configuration window.
60+ final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
61+
62+ // Detect a marker.
63+ final NapMarker marker = new NapMarker("markers\\4x4_35.patt",120);
64+ final Entity dummy = new EntityImpl("test");
65+ detector.put(marker, dummy);
66+
67+ // Show detection results in real-time.
68+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
69+ new ImageProviderPanel(camera) {
70+ private static final long serialVersionUID = 1L;
71+ private transient Stroke stroke;
72+ @Override public void paintComponent(Graphics g) {
73+ super.paintComponent(g);
74+ final Graphics2D g2 = (Graphics2D) g;
75+ if (stroke == null) {
76+ stroke = new BasicStroke(5);
77+ }
78+ g2.setStroke(stroke);
79+ g2.translate(getOffsetX(), getOffsetY());
80+
81+ // Get detected results.
82+ final Set<NapDetectionResult> results = detector.getResults();
83+
84+ // Draw each detected result.
85+ for (final NapDetectionResult result : results) {
86+
87+ // Draw corners
88+ g.setColor(Color.orange);
89+ detector.paint(g2, result);
90+
91+ // Draw information for the square.
92+ g.setColor(Color.cyan);
93+ final ScreenPosition point = result.getPosition();
94+ g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
95+ g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);
96+ drawString(g2, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
97+ drawString(g2, "Position: "+point, point.getX()+64, point.getY()+56);
98+ }
99+
100+ // Draw detected number of squares.
101+ drawString(g2, "detected: "+(results == null ? 0 : results.size()),
102+ 10, getHeight()-10);
103+ }
104+
105+ /**
106+ * Draw a string with 1px simple black border.
107+ */
108+ private void drawString(Graphics g, String s, int x, int y) {
109+ g.setColor(Color.black);
110+ g.drawString(s, x+1, y);
111+ g.drawString(s, x-1, y);
112+ g.drawString(s, x, y-1);
113+ g.drawString(s, x, y+1);
114+ g.setColor(Color.cyan);
115+ g.drawString(s, x, y);
116+ }
117+ }) {
118+ private static final long serialVersionUID = 1L;
119+ @Override public void dispose() {
120+ configFrame.dispose();
121+ super.dispose();
122+ Matereal.getInstance().dispose();
123+ }
124+ };
125+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
126+ }
127+}
--- napkit/tags/napkit-m22/src.sample.old/sample/Step2_PaintEntity.java (nonexistent)
+++ napkit/tags/napkit-m22/src.sample.old/sample/Step2_PaintEntity.java (revision 178)
@@ -0,0 +1,118 @@
1+package sample;
2+
3+import java.awt.Color;
4+
5+import java.awt.Graphics;
6+import java.awt.Graphics2D;
7+import java.awt.Shape;
8+import java.awt.geom.Rectangle2D;
9+import java.util.Set;
10+import javax.swing.JFrame;
11+
12+import jp.digitalmuseum.mr.Matereal;
13+import jp.digitalmuseum.mr.entity.Entity;
14+import jp.digitalmuseum.mr.entity.EntityImpl;
15+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17+import jp.digitalmuseum.mr.gui.utils.EntityPainter;
18+import jp.digitalmuseum.mr.service.MarkerDetector;
19+import jp.digitalmuseum.mr.service.Camera;
20+import jp.digitalmuseum.napkit.NapDetectionResult;
21+import jp.digitalmuseum.napkit.NapMarker;
22+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
23+import jp.digitalmuseum.utils.ScreenPosition;
24+import jp.digitalmuseum.utils.ScreenRectangle;
25+
26+/**
27+ * Run a marker detection and show results.
28+ *
29+ * @author Jun KATO
30+ */
31+public class Step2_PaintEntity {
32+
33+ public static void main(String[] args) {
34+ new Step2_PaintEntity();
35+ }
36+
37+ public Step2_PaintEntity() {
38+
39+ // Run a camera.
40+ final Camera camera = new Camera();
41+ camera.start();
42+
43+ // Run a marker detector.
44+ final MarkerDetector detector = new MarkerDetector();
45+ detector.loadCameraParameter("calib_qcam.dat");
46+ detector.start();
47+
48+ // Show a configuration window.
49+ final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
50+
51+ // Detect a marker.
52+ final NapMarker marker = new NapMarker("markers\\4x4_78.patt",45);
53+ final Entity dummy = new EntityImpl("test") {
54+ public void dispose() {}
55+ public Shape getShape() { return new Rectangle2D.Double(-10, -10, 20, 20); }
56+ };
57+ detector.put(marker, dummy);
58+
59+ // Initialize a painter
60+ final EntityPainter painter = new EntityPainter();
61+
62+ // Show detection results in real-time.
63+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
64+ new ImageProviderPanel(camera) {
65+ private static final long serialVersionUID = 1L;
66+ @Override public void paintComponent(Graphics g) {
67+ super.paintComponent(g);
68+
69+ // Get detected results.
70+ final Set<NapDetectionResult> results = detector.getResults();
71+
72+ // Draw detected number of squares.
73+ drawString(g, "detected: "+(results == null ? 0 : results.size()),
74+ 10, getHeight()-10);
75+
76+ // Draw each detected result.
77+ for (final NapDetectionResult result : results) {
78+
79+ // Draw corners
80+ final ScreenRectangle corners = result.getSquare();
81+ corners.draw((Graphics2D) g, true);
82+
83+ // Draw information for the square.
84+ final ScreenPosition point = result.getPosition();
85+ g.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
86+ g.drawRect(point.getX()+55, point.getY()+23, 200, 40);
87+ drawString(g, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
88+ drawString(g, "Position: "+point, point.getX()+64, point.getY()+56);
89+ }
90+
91+ // Paint a entity
92+ painter.paint(g, dummy);
93+ }
94+
95+ /**
96+ * Draw a string with 1px simple black border.
97+ */
98+ private void drawString(Graphics g, String s, int x, int y) {
99+ g.setColor(Color.black);
100+ g.drawString(s, x+1, y);
101+ g.drawString(s, x-1, y);
102+ g.drawString(s, x, y-1);
103+ g.drawString(s, x, y+1);
104+ g.setColor(Color.orange);
105+ g.drawString(s, x, y);
106+ }
107+ }) {
108+ private static final long serialVersionUID = 1L;
109+ @Override public void dispose() {
110+ configFrame.dispose();
111+ super.dispose();
112+ Matereal.getInstance().dispose();
113+ }
114+ };
115+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
116+ frame.setResizable(false);
117+ }
118+}
--- napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndRotate.java (nonexistent)
+++ napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndRotate.java (revision 178)
@@ -0,0 +1,123 @@
1+package sample;
2+
3+import java.awt.BasicStroke;
4+import java.awt.Color;
5+import java.awt.Graphics;
6+import java.awt.Graphics2D;
7+import java.awt.event.MouseAdapter;
8+import java.awt.event.MouseEvent;
9+
10+import javax.swing.JFrame;
11+
12+import jp.digitalmuseum.mr.Matereal;
13+import jp.digitalmuseum.mr.entity.MindstormsNXT;
14+import jp.digitalmuseum.mr.entity.Robot;
15+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17+import jp.digitalmuseum.mr.service.MarkerDetector;
18+import jp.digitalmuseum.mr.service.Camera;
19+import jp.digitalmuseum.mr.task.RotateTo;
20+import jp.digitalmuseum.mr.task.Task;
21+import jp.digitalmuseum.napkit.NapMarker;
22+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
23+import jp.digitalmuseum.utils.Position;
24+import jp.digitalmuseum.utils.ScreenPosition;
25+//import jp.digitalmuseum.mr.entity.Noopy;
26+
27+
28+/**
29+ * Show a frame with which an end-user can specify in which direction a robot should face.
30+ *
31+ * @author Jun KATO
32+ */
33+public class Step4_ClickAndRotate {
34+ private Task workingTask;
35+ final private ScreenPosition clickedPosition = new ScreenPosition();
36+
37+ public static void main(String[] args) {
38+ new Step4_ClickAndRotate();
39+ }
40+
41+ public Step4_ClickAndRotate() {
42+
43+ final Robot robot = new MindstormsNXT("Mindstorms NXT", "btspp://00165306523e");
44+
45+ // Run a camera.
46+ final Camera camera = new Camera();
47+ camera.start();
48+
49+ // Run a marker detector.
50+ final MarkerDetector detector = new MarkerDetector();
51+ detector.put(new NapMarker("markers/4x4_78.patt", 4.5), robot);
52+ detector.start();
53+
54+ // Show a configuration window.
55+ final JFrame configFrame = new DisposeOnCloseFrame(
56+ new TypicalMDCPane(detector));
57+
58+ // Initialize a main panel.
59+ final ImageProviderPanel panel = new ImageProviderPanel(camera) {
60+ private static final long serialVersionUID = 1L;
61+ @Override public void paintComponent(Graphics g) {
62+ super.paintComponent(g);
63+ final Graphics2D g2 = (Graphics2D) g;
64+ g2.translate(getOffsetX(), getOffsetY());
65+
66+ // Paint detection results.
67+ g2.setStroke(new BasicStroke(4));
68+ g2.setColor(Color.orange);
69+ detector.paint(g2);
70+
71+ // Paint the destination.
72+ if (clickedPosition != null) {
73+ g2.setColor(Color.green);
74+ g2.fillOval(
75+ clickedPosition.getX()-5,
76+ clickedPosition.getY()-5,
77+ 10, 10);
78+ }
79+ }
80+ @Override public void dispose() {
81+ configFrame.dispose();
82+ super.dispose();
83+ Matereal.getInstance().dispose();
84+ }
85+ };
86+
87+ // Add a mouse listener.
88+ panel.addMouseListener(new MouseAdapter() {
89+ final private Position destination =
90+ new Position();
91+ private Position position =
92+ new Position();
93+ @Override public void mouseClicked(MouseEvent e) {
94+ if (e.getButton() == MouseEvent.BUTTON1) {
95+
96+ // Get a clicked position.
97+ clickedPosition.set(e.getX(), e.getY());
98+ panel.getScreenToImageOut(clickedPosition, clickedPosition);
99+ camera.screenToRealOut(clickedPosition, destination);
100+ detector.getPositionOut(robot, position);
101+
102+ final double destinationDirection =
103+ position.getRelativeDirection(destination);
104+
105+ // If another task is already working, stop it.
106+ if (workingTask != null && workingTask.isStarted()) {
107+ workingTask.stop();
108+ }
109+
110+ // Assign a task rotating to a certain direction.
111+ workingTask = new RotateTo(destinationDirection);
112+ if (workingTask.assign(robot)) {
113+ workingTask.start();
114+ }
115+ }
116+ }
117+ });
118+
119+ // Show a world.
120+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel);
121+ frame.setFrameSize(560, 420);
122+ }
123+}
--- napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndFollow.java (nonexistent)
+++ napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndFollow.java (revision 178)
@@ -0,0 +1,125 @@
1+package sample;
2+
3+import java.awt.BasicStroke;
4+
5+import java.awt.Color;
6+import java.awt.Graphics;
7+import java.awt.Graphics2D;
8+import java.awt.event.MouseAdapter;
9+import java.awt.event.MouseEvent;
10+
11+import javax.swing.JFrame;
12+
13+import jp.digitalmuseum.mr.Matereal;
14+import jp.digitalmuseum.mr.entity.NetTansor;
15+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17+import jp.digitalmuseum.mr.service.MarkerDetector;
18+import jp.digitalmuseum.mr.service.Camera;
19+import jp.digitalmuseum.mr.task.Follow;
20+import jp.digitalmuseum.mr.task.Move;
21+import jp.digitalmuseum.mr.task.Task;
22+import jp.digitalmuseum.napkit.NapMarker;
23+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
24+import jp.digitalmuseum.utils.Position;
25+import jp.digitalmuseum.utils.ScreenPosition;
26+
27+
28+/**
29+ * Show a frame with a view of the world coordinate.
30+ *
31+ * @author Jun KATO
32+ */
33+public class Step4_ClickAndFollow {
34+ private Task workingTask;
35+ private ScreenPosition clickedPosition;
36+
37+ public static void main(String[] args) {
38+ new Step4_ClickAndFollow();
39+ }
40+
41+ public Step4_ClickAndFollow() {
42+
43+ // Initialize a robot.
44+ final NetTansor robot = new NetTansor("NetTansor Web", "http://192.168.1.103:8081");
45+ final NetTansor robot2 = new NetTansor("NetTansor", "http://192.168.1.104:8081");
46+
47+ // Run a camera.
48+ final Camera camera = new Camera("filter:1");
49+ camera.start();
50+
51+ // Run a marker detector.
52+ final MarkerDetector detector = new MarkerDetector();
53+ detector.setImageProvider(camera);
54+ detector.put(new NapMarker("markers/4x4_112.patt", 4.5), robot);
55+ detector.put(new NapMarker("markers/4x4_78.patt", 4.5), robot2);
56+ detector.start();
57+
58+ // Show a configuration window.
59+ final JFrame configFrame = new DisposeOnCloseFrame(
60+ new TypicalMDCPane(detector));
61+
62+ // Initialize a main panel.
63+ final ImageProviderPanel panel = new ImageProviderPanel(camera) {
64+ private static final long serialVersionUID = 1L;
65+ @Override public void paintComponent(Graphics g) {
66+ super.paintComponent(g);
67+ final Graphics2D g2 = (Graphics2D) g;
68+
69+ // Paint detection results.
70+ g2.setStroke(new BasicStroke(4));
71+ g2.setColor(Color.orange);
72+ detector.paint(g2);
73+
74+ // Paint the destination.
75+ if (clickedPosition != null) {
76+ g2.setColor(Color.green);
77+ g2.fillOval(
78+ clickedPosition.getX()-5,
79+ clickedPosition.getY()-5,
80+ 10, 10);
81+ }
82+ }
83+ @Override public void dispose() {
84+ configFrame.dispose();
85+ super.dispose();
86+ Matereal.getInstance().dispose();
87+ }
88+ };
89+
90+ // Add a mouse listener.
91+ panel.addMouseListener(new MouseAdapter() {
92+ final private ScreenPosition clickedPosition =
93+ new ScreenPosition();
94+ final private Position destination =
95+ new Position();
96+ @Override public void mouseClicked(MouseEvent e) {
97+ if (e.getButton() == MouseEvent.BUTTON1) {
98+
99+ // Get a clicked position.
100+ clickedPosition.set(e.getX(), e.getY());
101+ panel.getScreenToImageOut(clickedPosition, clickedPosition);
102+ camera.screenToRealOut(clickedPosition, destination);
103+
104+ // Assign a task moving to the position.
105+ if (workingTask != null && workingTask.isStarted()) {
106+ workingTask.stop();
107+ }
108+ workingTask = new Move(destination);
109+ if (workingTask.assign(robot)) {
110+ workingTask.start();
111+ }
112+ }
113+ }
114+ });
115+
116+ final Follow follow = new Follow(robot);
117+ if (follow.assign(robot2)) {
118+ follow.start();
119+ }
120+
121+ // Show a world.
122+ final JFrame frame = new DisposeOnCloseFrame(panel);
123+ frame.setSize(710, 660);
124+ }
125+}
--- napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndRun.java (nonexistent)
+++ napkit/tags/napkit-m22/src.sample.old/sample/Step4_ClickAndRun.java (revision 178)
@@ -0,0 +1,122 @@
1+package sample;
2+
3+import java.awt.BasicStroke;
4+
5+import java.awt.Color;
6+import java.awt.Graphics;
7+import java.awt.Graphics2D;
8+import java.awt.event.MouseAdapter;
9+import java.awt.event.MouseEvent;
10+
11+import javax.swing.JFrame;
12+
13+import jp.digitalmuseum.mr.Matereal;
14+import jp.digitalmuseum.mr.entity.MindstormsNXT;
15+import jp.digitalmuseum.mr.entity.Robot;
16+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
17+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
18+import jp.digitalmuseum.mr.resource.WheelsController;
19+import jp.digitalmuseum.mr.service.MarkerDetector;
20+import jp.digitalmuseum.mr.service.Camera;
21+import jp.digitalmuseum.mr.task.Move;
22+import jp.digitalmuseum.mr.task.Task;
23+import jp.digitalmuseum.napkit.NapMarker;
24+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
25+import jp.digitalmuseum.utils.Position;
26+import jp.digitalmuseum.utils.ScreenPosition;
27+
28+/**
29+ * Show a frame with a view of the world coordinate.
30+ *
31+ * @author Jun KATO
32+ */
33+public class Step4_ClickAndRun {
34+ private Task moveTo;
35+ final private ScreenPosition goalPosition = new ScreenPosition();
36+
37+ public static void main(String[] args) {
38+ new Step4_ClickAndRun();
39+ }
40+
41+ public Step4_ClickAndRun() {
42+
43+ // Destination is not specified at first.
44+ goalPosition.setNotFound(true);
45+
46+ // Initialize a robot.
47+ final Robot robot = new MindstormsNXT("Mindstorms NXT", "btspp://00165305b308");
48+
49+ // Run a camera.
50+ final Camera camera = new Camera();
51+ camera.start();
52+
53+ // Run a marker detector.
54+ final MarkerDetector detector = new MarkerDetector();
55+ detector.setImageProvider(camera);
56+ detector.put(new NapMarker("markers/4x4_743.patt", 12), robot);
57+ detector.start();
58+
59+ // Show a configuration window.
60+ final JFrame configFrame = new DisposeOnCloseFrame(
61+ new TypicalMDCPane(detector));
62+
63+ // Initialize a main panel.
64+ final ImageProviderPanel panel = new ImageProviderPanel(camera) {
65+ private static final long serialVersionUID = 1L;
66+ @Override public void paintComponent(Graphics g) {
67+ super.paintComponent(g);
68+ final Graphics2D g2 = (Graphics2D) g;
69+ g2.translate(getOffsetX(), getOffsetY());
70+
71+ // Paint detection results.
72+ g2.setStroke(new BasicStroke(4));
73+ g2.setColor(Color.orange);
74+ detector.paint(g2);
75+
76+ // Paint the destination.
77+ if (!goalPosition.isNotFound()) {
78+ g2.setColor(Color.green);
79+ g2.fillOval(
80+ goalPosition.getX()-5,
81+ goalPosition.getY()-5,
82+ 10, 10);
83+ }
84+ }
85+ @Override public void dispose() {
86+ configFrame.dispose();
87+ super.dispose();
88+ Matereal.getInstance().dispose();
89+ }
90+ };
91+
92+ // Add a mouse listener.
93+ panel.addMouseListener(new MouseAdapter() {
94+ final private Position destination =
95+ new Position();
96+
97+ @Override public void mouseClicked(MouseEvent e) {
98+ if (e.getButton() == MouseEvent.BUTTON1) {
99+
100+ // Get a clicked position.
101+ goalPosition.set(e.getX(), e.getY());
102+ panel.getScreenToImageOut(goalPosition, goalPosition);
103+ camera.screenToRealOut(goalPosition, destination);
104+
105+ // Assign a task moving to the position.
106+ final Task task = robot.getAssignedTask(WheelsController.class);
107+ if (task != null) {
108+ task.stop();
109+ }
110+ moveTo = new Move(camera.screenToReal(goalPosition));
111+ if (moveTo.assign(robot)) {
112+ moveTo.start();
113+ }
114+ }
115+ }
116+ });
117+
118+ // Show a world.
119+ final JFrame frame = new DisposeOnCloseFrame(panel);
120+ frame.setSize(710, 660);
121+ }
122+}
--- napkit/tags/napkit-m22/src.test/sample/test/VisualizedClickAndRun.java (revision 177)
+++ napkit/tags/napkit-m22/src.test/sample/test/VisualizedClickAndRun.java (revision 178)
@@ -16,6 +16,8 @@
1616
1717 import javax.swing.JFrame;
1818
19+import sample.application.VisualizedClickAndRun;
20+
1921 import jp.digitalmuseum.mr.core.Matereal;
2022 import jp.digitalmuseum.mr.core.entity.Robot;
2123 import jp.digitalmuseum.mr.core.message.Event;
--- napkit/tags/napkit-m22/src/jp/digitalmuseum/napkit/NapByteRasterBGR.java (revision 177)
+++ napkit/tags/napkit-m22/src/jp/digitalmuseum/napkit/NapByteRasterBGR.java (revision 178)
@@ -101,7 +101,7 @@
101101 * Set pixel data.
102102 * @param pixels pixel data in a byte array.
103103 */
104- public void setData(final byte[] pixels) { this.pixels = pixels.clone(); }
104+ public void setData(final byte[] pixels) { if (pixels != null) { this.pixels = pixels.clone(); } }
105105
106106 @Override public INyARRgbPixelReader getRgbPixelReader() { return pixelReader; }
107107 public INyARBufferReader getBufferReader() { return bufferReader; }
--- napkit/tags/napkit-m22/src/jp/digitalmuseum/mr/service/MarkerDetector.java (revision 177)
+++ napkit/tags/napkit-m22/src/jp/digitalmuseum/mr/service/MarkerDetector.java (revision 178)
@@ -210,10 +210,14 @@
210210 if (imageProvider == null) {
211211 return;
212212 }
213+ byte[] imageData = imageProvider.getImageData();
214+ if (imageData == null) {
215+ return;
216+ }
213217
214218 // Detect markers.
215219 final Array<NapDetectionResult> resultHolder
216- = detector.detectMarker(imageProvider.getImageData());
220+ = detector.detectMarker(imageData);
217221
218222 // Manage results.
219223 synchronized (this) {
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