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matereal: 提交


Commit MetaInfo

修订版199 (tree)
时间2010-11-15 03:54:46
作者arc

Log Message

preparing for matereal distribution.

更改概述

差异

--- capture/trunk/LICENSE.txt (revision 198)
+++ capture/trunk/LICENSE.txt (revision 199)
@@ -1,5 +1,5 @@
11 Webcam capture package - capture
2-Copyright (C) 2009 Jun KATO
2+Copyright (C) 2010 Jun KATO
33
44 The contents of this file are subject to the Mozilla Public License Version
55 1.1 (the "License"); you may not use this file except in compliance with
@@ -15,7 +15,7 @@
1515
1616 The Initial Developer of the Original Code is Jun KATO.
1717 Portions created by the Initial Developer are
18-Copyright (C) 2009 Jun KATO. All Rights Reserved.
18+Copyright (C) 2010 Jun KATO. All Rights Reserved.
1919
2020 Contributor(s): Jun KATO
2121
--- capture/trunk/p5/resources/build.xml (revision 198)
+++ capture/trunk/p5/resources/build.xml (revision 199)
@@ -12,13 +12,13 @@
1212 <!-- #### (2) where are the jar files located that are required for compiling
1313 your library such as e.g. core.jar ? edit location. #### -->
1414
15- <property name="libraryClasspath" location="../lib"/>
15+ <property name="libraryClasspath" location="../lib/p5"/>
1616 <path id="library-classpath">
1717 <fileset dir="${libraryClasspath}" >
1818 <!-- #### (3) add the jar files that are required for compiling. edit name.
1919 for more include files. duplicate <include name="" /> #### -->
2020 <include name="core.jar"/>
21- <include name="dsj/dsj.jar"/>
21+ <include name="../dsj/dsj.jar"/>
2222 </fileset>
2323 </path>
2424
@@ -61,8 +61,8 @@
6161
6262 <!-- #### (14) where can the source code be found? edit value. #### -->
6363 <property name="source:host" value="matereal" />
64- <property name="source:url" value="http://sourceforge.jp/projects/matereal/" />
65- <property name="source:repository" value="http://sourceforge.jp/projects/matereal/svn/view/capture/trunk/?root=matereal" />
64+ <property name="source:url" value="http://mr.digitalmuseum.jp/" />
65+ <property name="source:repository" value="http://matereal.googlecode.com/svn/capture/trunk/" />
6666
6767
6868
--- capture/trunk/src.p5/processing/video/CaptureDS.java (revision 198)
+++ capture/trunk/src.p5/processing/video/CaptureDS.java (revision 199)
@@ -173,32 +173,37 @@
173173 parent.die("No devices with available pins found.");
174174 return;
175175 }
176+ pin = null;
177+ float fps = 30.0f;
178+ float currentFps = Float.MAX_VALUE;
176179 for (DSPinInfo p : pins) {
177- final DSMediaType[] fs = p.getFormats();
178180
179- // 動作モード数が多いものが使えるピン(たぶん)
180- if (formats == null || formats.length < fs.length) {
181- pin = p;
182- formats = fs;
181+ // Set the first pin as default.
182+ if (pin == null) pin = p;
183+
184+ // Capture YUY2 and RGB none-compressed images by default.
185+ formats = p.getFormats();
186+ for (int i = 0; i < formats.length; i ++) {
187+ final DSMediaType format = formats[i];
188+ if (format.getWidth() == width &&
189+ format.getHeight() == height &&
190+ (format.getSubType() == DSMediaType.VST_YUY2 ||
191+ format.getSubType() == DSMediaType.VST_RGB24)) {
192+ if (Math.abs(fps - format.getFrameRate()) < Math.abs(fps - currentFps)) {
193+ pin = p;
194+ p.setPreferredFormat(i);
195+ currentFps = format.getFrameRate();
196+ }
197+ break;
198+ }
183199 }
184- }
185-
186- // ピンがサポートするモードのうち
187- //
188- // ・指定された解像度に合致する
189- // ・YUVあるいはRGBで画像を取得できる
190- //
191- // ものを取得し、動作モードに指定
192- for (int i = 0; i < formats.length; i ++) {
193- final DSMediaType format = formats[i];
194- if ((format.getSubType() == DSMediaType.VST_YUY2 ||
195- format.getSubType() == DSMediaType.VST_RGB24) &&
196- requestWidth == format.getWidth() &&
197- requestHeight == format.getHeight()) {
198- pin.setPreferredFormat(i);
200+ if (pin != null && (int) currentFps == (int) fps) {
199201 break;
200202 }
201203 }
204+ if (pin == null) {
205+ parent.die("No suitable pin to capture was found for filter:"+dsFilter);
206+ }
202207
203208 // キャプチャを始める
204209 dsCapture = new DSCapture(
--- capture/trunk/build.xml (revision 198)
+++ capture/trunk/build.xml (revision 199)
@@ -1,4 +1,4 @@
1-<?xml version="1.0" encoding="Shift_JIS"?>
1+<?xml version="1.0" encoding="UTF-8"?>
22
33 <project name="capture" default="jar" basedir=".">
44 <!-- time stamp -->
@@ -8,55 +8,55 @@
88
99 <!-- ****Properties**** -->
1010 <!-- Software version -->
11- <property name="version" value="0.1" />
11+ <property name="capture-version" value="1.0.0" />
1212
1313 <!-- Dependent class pathes -->
14- <property name="classpath" value="lib/dsj/dsj.jar;lib/jmf/jmf.jar;lib/qtj/QTJava.zip" />
14+ <property name="capture-classpath" value="lib/dsj/dsj.jar;lib/jmf/jmf.jar;lib/qtj/QTJava.zip" />
1515
1616 <!-- Source directory -->
17- <property name="src.dir" value="src" />
17+ <property name="capture-src.dir" value="src" />
1818
1919 <!-- Classes destination directory -->
20- <property name="classes.dir" value="bin" />
20+ <property name="capture-classes.dir" value="bin" />
2121
2222 <!-- Javadoc destination -->
23- <property name="javadoc.dir" value="docs" />
23+ <property name="capture-javadoc.dir" value="docs" />
2424
2525 <!-- jar file name -->
26- <property name="jar.name" value="capture-${version}.jar" />
26+ <property name="capture-jar.name" value="capture-${capture-version}.jar" />
2727
2828 <!-- ****Targets**** -->
2929 <!-- jar -->
3030 <target name="jar" depends="compile">
31- <jar jarfile="${jar.name}">
32- <fileset dir="${classes.dir}" includes="**/*.class" />
33- <fileset dir="${src.dir}" includes="**/*.java" />
31+ <jar jarfile="${capture-jar.name}">
32+ <fileset dir="${capture-classes.dir}" includes="**/*.class" />
33+ <fileset dir="${capture-src.dir}" includes="**/*.java" />
3434 </jar>
3535 </target>
3636
3737 <!-- Compile -->
3838 <target name="compile">
39- <mkdir dir="${classes.dir}" />
40- <javac srcdir="${src.dir}" destdir="${classes.dir}" classpath="${classpath}" />
39+ <mkdir dir="${capture-classes.dir}" />
40+ <javac srcdir="${capture-src.dir}" destdir="${capture-classes.dir}" classpath="${capture-classpath}" />
4141 </target>
4242
4343 <!-- Javadoc -->
4444 <target name="javadoc">
45- <javadoc sourcepath="${src.dir}"
46- destdir="${javadoc.dir}"
45+ <javadoc sourcepath="${capture-src.dir}"
46+ destdir="${capture-javadoc.dir}"
4747 packagenames="jp.digitalmuseum.*"
4848 charset="UTF-8"
4949 encoding="UTF-8"
5050 docencoding="UTF-8"
5151 locale="en"
52- classpath="${classpath}"
52+ classpath="${capture-classpath}"
5353 bottom="Copyright by Jun KATO (arc@dmz) at http://matereal.sourceforge.jp/" />
5454 </target>
5555
5656 <!-- Cleaning -->
5757 <target name="clean">
58- <delete dir="${classes.dir}" />
59- <delete dir="${javadoc.dir}" />
60- <delete file="${jar.name}" />
58+ <delete dir="${capture-classes.dir}" />
59+ <delete dir="${capture-javadoc.dir}" />
60+ <delete file="${capture-jar.name}" />
6161 </target>
6262 </project>
\ No newline at end of file
--- napkit/trunk/matereal-full.xml (revision 198)
+++ napkit/trunk/matereal-full.xml (nonexistent)
@@ -1,120 +0,0 @@
1-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2-<project default="create_package">
3-
4- <property name="matereal.zip.basedir" value="matereal-full/" />
5- <property name="matereal.zip.name" value="matereal-0.1-full.zip" />
6- <property name="matereal.jar.name" value="${matereal.zip.basedir}matereal-0.1-full.jar" />
7- <property name="matereal.jar.main" value="TestCamera" />
8-
9- <property name="lib.dir" value="lib/" />
10-
11- <property name="matereal.dir" value="matereal/" />
12- <property name="matereal.lib" value="matereal-0.1.jar" />
13-
14- <property name="capture.dir" value="capture/" />
15- <property name="capture.lib" value="capture-0.1.jar" />
16-
17- <property name="connector.dir" value="connector/" />
18- <property name="connector.lib" value="connector-0.1.jar" />
19-
20- <property name="napkit.dir" value="napkit/" />
21- <property name="napkit.lib" value="napkit-0.2.jar" />
22-
23- <property name="bluecove.dir" value="bluecove/" />
24- <property name="bluecove.version" value="2.1.0" />
25- <property name="bluecove.lib" value="bluecove-${bluecove.version}.jar" />
26- <property name="bluecove" value="${bluecove.dir}${bluecove.lib}" />
27- <property name="bluecove-without-jnilibs" value="bluecove-${bluecove.version}-without-jnilibs.jar" />
28-
29- <property name="rxtxlib.dir" value="rxtx-2.1-7-bins-r2/" />
30- <property name="rxtxlib.lib" value="RXTXcomm.jar" />
31-
32- <property name="classpath" value="${bluecove-without-jnilibs} ${rxtxlib.lib}" />
33-
34- <target name="build_napkit">
35- <ant antfile="build.xml" target="jar" />
36- <mkdir dir="${lib.dir}${napkit.dir}" />
37- <copy file="${napkit.lib}" todir="${lib.dir}${napkit.dir}" />
38- <copy file="LICENCE.txt" todir="${lib.dir}${napkit.dir}" />
39- <copy file="README.txt" todir="${lib.dir}${napkit.dir}" />
40- </target>
41-
42- <target name="unjar_matereals" depends="build_napkit">
43- <mkdir dir="${lib.dir}${matereal.dir}bin" />
44- <unjar src="${lib.dir}${matereal.dir}${matereal.lib}" dest="${lib.dir}${matereal.dir}bin" />
45- <unjar src="${lib.dir}${capture.dir}${capture.lib}" dest="${lib.dir}${matereal.dir}bin" />
46- <unjar src="${lib.dir}${connector.dir}${connector.lib}" dest="${lib.dir}${matereal.dir}bin" />
47- <unjar src="${lib.dir}${napkit.dir}${napkit.lib}" dest="${lib.dir}${matereal.dir}bin" />
48- </target>
49-
50- <target name="unjar_bluecove">
51- <mkdir dir="${lib.dir}${bluecove.dir}bin" />
52- <mkdir dir="${lib.dir}${bluecove.dir}native" />
53- <unjar src="${lib.dir}${bluecove.dir}${bluecove.lib}" dest="${lib.dir}${bluecove.dir}bin">
54- <patternset>
55- <exclude name="**/*.dll" />
56- <exclude name="**/*.jnilib" />
57- </patternset>
58- </unjar>
59- <unjar src="${lib.dir}${bluecove.dir}${bluecove.lib}" dest="${lib.dir}${bluecove.dir}native">
60- <patternset>
61- <include name="**/*.dll" />
62- <include name="**/*.jnilib" />
63- </patternset>
64- </unjar>
65- </target>
66-
67- <target name="create_jar" depends="unjar_matereals, unjar_bluecove">
68- <mkdir dir="${matereal.zip.basedir}" />
69- <jar destfile="${lib.dir}${bluecove.dir}${bluecove-without-jnilibs}" basedir="${lib.dir}${bluecove.dir}bin" />
70- <jar destfile="${matereal.jar.name}">
71- <manifest>
72- <attribute name="Main-Class" value="org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader" />
73- <attribute name="Rsrc-Main-Class" value="${matereal.jar.main}" />
74- <attribute name="Class-Path" value="." />
75- <attribute name="Rsrc-Class-Path" value="./ ${classpath}" />
76- </manifest>
77- <zipfileset src="${lib.dir}jar-in-jar-loader/jar-in-jar-loader.zip" />
78- <fileset dir="${lib.dir}${matereal.dir}bin" excludes="sample/" />
79- <zipfileset dir="${lib.dir}" prefix="lib">
80- <exclude name="jar-in-jar-loader/*.zip" />
81-
82- <exclude name="${matereal.dir}${matereal.lib}"/>
83- <exclude name="${capture.dir}${capture.lib}"/>
84- <exclude name="${connector.dir}${connector.lib}"/>
85- <exclude name="${napkit.dir}${napkit.lib}"/>
86-
87- <exclude name="${rxtxlib.dir}${rxtxlib.lib}"/>
88- <exclude name="${rxtxlib.dir}*.dll"/>
89- <exclude name="${rxtxlib.dir}*.jnilib"/>
90- <exclude name="${bluecove.dir}${bluecove.lib}"/>
91- <exclude name="${bluecove.dir}${bluecove-without-jnilibs}"/>
92-
93- <exclude name="${matereal.dir}bin/"/>
94- <exclude name="${bluecove.dir}bin/"/>
95- <exclude name="${bluecove.dir}native/"/>
96-
97- <exclude name="dsj/"/>
98- <exclude name="NyARToolkit-*/"/>
99- </zipfileset>
100-
101- <zipfileset dir="${lib.dir}${rxtxlib.dir}" includes="${rxtxlib.lib} *.dll *.jnilib" />
102- <zipfileset dir="${lib.dir}${bluecove.dir}native" />
103- <zipfileset dir="${lib.dir}${bluecove.dir}" includes="${bluecove-without-jnilibs}" />
104-
105- </jar>
106- </target>
107-
108- <target name="create_package" depends="create_jar">
109- <zip destfile="${matereal.zip.name}" basedir="${matereal.zip.basedir}" />
110- </target>
111-
112- <target name="clean">
113- <delete dir="${napkit.dir}" />
114- <delete dir="${matereal.dir}bin" />
115- <delete dir="${bluecove.dir}bin" />
116- <delete dir="${bluecove.dir}native" />
117- <delete file="${matereal.zip.basedir}${matereal.jar.name}" />
118- <delete file="${matereal.zip.name}" />
119- </target>
120-</project>
\ No newline at end of file
Deleted: svn:mime-type
## -1 +0,0 ##
-text/plain
\ No newline at end of property
--- napkit/trunk/LICENCE.txt (revision 198)
+++ napkit/trunk/LICENCE.txt (nonexistent)
@@ -1,17 +0,0 @@
1-NyARToolkit Application Toolkit - napkit
2-Copyright (C) 2009 Jun KATO
3-
4-This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
5-
6-This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
7-
8-You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
9-
10-NyARToolkit Application Toolkit - napkit
11-Copyright (C) 2009 Jun KATO
12-
13-このプログラムはフリーソフトウェアです。あなたはこれを、フリーソフトウェア財団によって発行されたGNU 一般公衆利用許諾書(バージョン3か、 それ以降のバージョンのうちどれか)が定める条件の下で再頒布または改変することができます。
14-
15-このプログラムは有用であることを願って頒布されますが、*全くの無保証 *です。商業可能性の保証や特定目的への適合性は、言外に示されたものも 含め、全く存在しません。詳しくはGNU 一般公衆利用許諾書をご覧ください。
16-
17-あなたはこのプログラムと共に、GNU 一般公衆利用許諾書のコピーを一部受け取っているはずです。もし受け取っていなければ、<http://www.gnu.org/licenses/> をご覧ください。
\ No newline at end of file
Deleted: svn:mime-type
## -1 +0,0 ##
-text/plain
\ No newline at end of property
--- napkit/trunk/LICENSE.txt (nonexistent)
+++ napkit/trunk/LICENSE.txt (revision 199)
@@ -0,0 +1,17 @@
1+NyARToolkit Application Toolkit - napkit
2+Copyright (C) 2009-2010 Jun KATO
3+
4+This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
5+
6+This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
7+
8+You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
9+
10+NyARToolkit Application Toolkit - napkit
11+Copyright (C) 2009-2010 Jun KATO
12+
13+このプログラムはフリーソフトウェアです。あなたはこれを、フリーソフトウェア財団によって発行されたGNU 一般公衆利用許諾書(バージョン3か、 それ以降のバージョンのうちどれか)が定める条件の下で再頒布または改変することができます。
14+
15+このプログラムは有用であることを願って頒布されますが、*全くの無保証 *です。商業可能性の保証や特定目的への適合性は、言外に示されたものも 含め、全く存在しません。詳しくはGNU 一般公衆利用許諾書をご覧ください。
16+
17+あなたはこのプログラムと共に、GNU 一般公衆利用許諾書のコピーを一部受け取っているはずです。もし受け取っていなければ、<http://www.gnu.org/licenses/> をご覧ください。
\ No newline at end of file
Added: svn:mime-type
## -0,0 +1 ##
+text/plain
\ No newline at end of property
--- napkit/trunk/markers/README.txt (nonexistent)
+++ napkit/trunk/markers/README.txt (revision 199)
@@ -0,0 +1,2 @@
1+These marker patterns are generated with ARToolkit Patternmaker:
2+http://www.cs.utah.edu/gdc/projects/augmentedreality/
\ No newline at end of file
Added: svn:mime-type
## -0,0 +1 ##
+text/plain
\ No newline at end of property
--- napkit/trunk/src.sample.old/sample/Step2_PaintEntity.java (revision 198)
+++ napkit/trunk/src.sample.old/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/trunk/src.test/BringItHere.java (nonexistent)
+++ napkit/trunk/src.test/BringItHere.java (revision 199)
@@ -0,0 +1,286 @@
1+import java.awt.BasicStroke;
2+
3+import java.awt.AlphaComposite;
4+import java.awt.Color;
5+import java.awt.Composite;
6+import java.awt.Graphics;
7+import java.awt.Graphics2D;
8+import java.awt.Stroke;
9+import java.awt.event.MouseAdapter;
10+import java.awt.event.MouseEvent;
11+import java.util.Set;
12+import javax.swing.JFrame;
13+import javax.swing.JOptionPane;
14+
15+import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
16+import jp.digitalmuseum.mr.Matereal;
17+import jp.digitalmuseum.mr.entity.Entity;
18+import jp.digitalmuseum.mr.entity.Mini;
19+import jp.digitalmuseum.mr.entity.PhysicalBox;
20+import jp.digitalmuseum.mr.entity.PhysicalCylinder;
21+import jp.digitalmuseum.mr.entity.Robot;
22+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
23+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
24+import jp.digitalmuseum.mr.gui.utils.EntityPainter;
25+import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
26+import jp.digitalmuseum.mr.hakoniwa.Hakoniwa;
27+import jp.digitalmuseum.mr.hakoniwa.HakoniwaBox;
28+import jp.digitalmuseum.mr.hakoniwa.HakoniwaRobot;
29+import jp.digitalmuseum.mr.resource.WheelsController;
30+import jp.digitalmuseum.mr.service.CoordProvider;
31+import jp.digitalmuseum.mr.service.LocationProvider;
32+import jp.digitalmuseum.mr.service.MarkerDetector;
33+import jp.digitalmuseum.mr.service.Camera;
34+import jp.digitalmuseum.mr.task.Push;
35+import jp.digitalmuseum.mr.task.Task;
36+import jp.digitalmuseum.mr.task.VectorFieldTask;
37+import jp.digitalmuseum.napkit.NapDetectionResult;
38+import jp.digitalmuseum.napkit.NapMarker;
39+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
40+import jp.digitalmuseum.utils.Location;
41+import jp.digitalmuseum.utils.Position;
42+import jp.digitalmuseum.utils.ScreenPosition;
43+
44+/**
45+ * Run a marker detection and show results.
46+ *
47+ * @author Jun KATO
48+ */
49+public class BringItHere {
50+ private final static boolean REAL = false;
51+ private Robot robot;
52+ private Entity[] entities;
53+ private CoordProvider coordProvider;
54+ private LocationProvider locationProvider;
55+ private VectorFieldTask push;
56+ private ScreenPosition goal = null;
57+
58+ public static void main(String[] args) {
59+ new BringItHere();
60+ }
61+
62+ public BringItHere() {
63+
64+ final JFrame configFrame;
65+ final MarkerDetector detector;
66+ if (REAL) {
67+
68+ // Run a camera.
69+ // Let users select a device to capture images.
70+ final String identifier = (String) JOptionPane.showInputDialog(
71+ null, "Select a device to capture images.", "Device list",
72+ JOptionPane.QUESTION_MESSAGE, null,
73+ new VideoCaptureFactoryImpl().queryIdentifiers(), null);
74+ final Camera camera;
75+ if ((identifier != null) && (identifier.length() > 0)) {
76+ camera = new Camera(identifier);
77+ } else {
78+ camera = new Camera();
79+ }
80+ camera.setSize(800, 600);
81+ camera.setRealSize(80, 60);
82+ camera.start();
83+ coordProvider = camera;
84+
85+ // Run a marker detector.
86+ detector = new MarkerDetector();
87+ detector.loadCameraParameter("calib_qcam.dat");
88+ detector.start();
89+ locationProvider = detector;
90+
91+ // Show a configuration window.
92+ configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
93+
94+ // Instantiate a robot.
95+ robot = new Mini("Mini", "btspp://000666015818");
96+
97+ // Instantiate boxes.
98+ entities = new Entity[2];
99+ entities[0] = new PhysicalCylinder("My cup", 3);
100+ entities[1] = new PhysicalBox("My box", 10, 8);
101+ detector.put(new NapMarker("markers\\4x4_35.patt", 5.5),
102+ entities[0]);
103+ detector.put(new NapMarker("markers\\4x4_78.patt", 5.5),
104+ entities[1]);
105+ detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
106+ }
107+
108+ else {
109+
110+ // Run a hakoniwa.
111+ Hakoniwa hakoniwa = new Hakoniwa();
112+ hakoniwa.start();
113+ coordProvider = hakoniwa;
114+ locationProvider = hakoniwa;
115+
116+ robot = new HakoniwaRobot("Hakoniwa robot", new Location(hakoniwa
117+ .getRealWidth() / 2, hakoniwa.getRealHeight() / 2,
118+ -Math.PI * 3 / 4));
119+ entities = new Entity[5];
120+ double x = hakoniwa.getRealWidth() / 2;
121+ double y = hakoniwa.getRealHeight() / 2;
122+ double r = 200;
123+ for (int i = 0; i < entities.length; i++) {
124+ double theta = Math.PI * i / (entities.length - 1);
125+ entities[i] = new HakoniwaBox("Box " + i, x + Math.cos(theta)
126+ * r, y - Math.sin(theta) * r, 20 * (i + 1),
127+ 15 * (i + 1), theta);
128+ }
129+ }
130+
131+ // Show detection results in real-time.
132+ final ImageProviderPanel panel = new ImageProviderPanel(coordProvider) {
133+ private static final long serialVersionUID = 1L;
134+ private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
135+ REAL ? 0.5 : 20);
136+ private transient final EntityPainter entityPainter = new EntityPainter(
137+ 0.5);
138+ private transient final Stroke stroke = new BasicStroke(5);
139+ private transient final AlphaComposite alphaComp = AlphaComposite
140+ .getInstance(AlphaComposite.SRC_OVER, .3f);
141+ private transient final AlphaComposite alphaComp2 = AlphaComposite
142+ .getInstance(AlphaComposite.SRC_OVER, .7f);
143+
144+ @Override
145+ public void paintComponent(Graphics g) {
146+ super.paintComponent(g);
147+ final Graphics2D g2 = (Graphics2D) g;
148+ g2.translate(getOffsetX(), getOffsetY());
149+
150+ final Composite comp = g2.getComposite();
151+
152+ // Draw vectors.
153+ g2.setComposite(alphaComp);
154+ g.setColor(Color.blue);
155+ vectorFieldPainter.paint(push, g2);
156+ g2.setComposite(comp);
157+
158+ // Draw entities.
159+ g.setColor(Color.green);
160+ for (Entity e : entities) {
161+ entityPainter.paint(g2, e);
162+ }
163+ entityPainter.paint(g2, robot);
164+
165+ int detected;
166+ if (REAL) {
167+ // Get detected results.
168+ final Set<NapDetectionResult> results = detector
169+ .getResults();
170+ detected = results.size();
171+
172+ // Draw each detected result.
173+ for (final NapDetectionResult result : results) {
174+
175+ // Draw corners
176+ g.setColor(Color.orange);
177+ detector.paint(g2, result);
178+
179+ // Draw information for the square.
180+ g.setColor(Color.cyan);
181+ final ScreenPosition point = result.getPosition();
182+ g2.drawLine(point.getX(), point.getY(),
183+ point.getX() + 55, point.getY() + 43);
184+ g2.drawRect(point.getX() + 55, point.getY() + 23, 200,
185+ 40);
186+ g2.drawString("Confidence: " + result.getConfidence(),
187+ point.getX() + 64, point.getY() + 40);
188+ g2.drawString("Position: " + point, point.getX() + 64,
189+ point.getY() + 56);
190+ }
191+ }
192+
193+ // Draw status.
194+ g2.setComposite(alphaComp2);
195+ g2.setColor(Color.black);
196+ g2.fillRect(0, 0, coordProvider.getWidth(), 35);
197+ g2.setComposite(comp);
198+ g.drawLine(0, 35, coordProvider.getWidth(), 35);
199+ g.setColor(Color.white);
200+ if (goal == null) {
201+ g.drawString("Click to set the destination.", 10, 30);
202+ } else {
203+ if (push != null && !push.isFinished()) {
204+ g.drawString("Status: " + push, 10, 30);
205+ } else {
206+ g.drawString("Status: Stopped", 10, 30);
207+ }
208+ Stroke s = g2.getStroke();
209+ g2.setStroke(stroke);
210+ g.setColor(Color.black);
211+ g.drawLine(goal.getX() - 5, goal.getY() - 5,
212+ goal.getX() + 5, goal.getY() + 5);
213+ g.drawLine(goal.getX() - 5, goal.getY() + 5,
214+ goal.getX() + 5, goal.getY() - 5);
215+ g2.setStroke(s);
216+ }
217+
218+ if (REAL) {
219+ // Draw detected number of squares.
220+ g.setColor(Color.cyan);
221+ g2.drawString("detected: " + detected,
222+ 10, getHeight() - 10);
223+ }
224+ }
225+ };
226+
227+ // Bring the clicked object to the location in front of the user.
228+ panel.addMouseListener(new MouseAdapter() {
229+ @Override
230+ public void mouseReleased(MouseEvent e) {
231+
232+ // Stop the previously assigned task.
233+ final Task task = robot.getAssignedTask(WheelsController.class);
234+ if (task != null)
235+ task.stop();
236+
237+ // Set the goal position.
238+ final int x = e.getX(), y = e.getY();
239+ if (goal == null) {
240+ goal = new ScreenPosition(x, y);
241+ return;
242+ }
243+
244+ // Push the clicked object to the goal.
245+ final Entity entity = getClickedEntity(x, y);
246+ if (entity != null && entity != robot) {
247+ push = new Push(entity, coordProvider.screenToReal(goal));
248+ if (push.assign(robot))
249+ push.start();
250+ }
251+ }
252+
253+ });
254+
255+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel) {
256+ private static final long serialVersionUID = 1L;
257+
258+ @Override
259+ public void dispose() {
260+ if (REAL) {
261+ configFrame.dispose();
262+ }
263+ super.dispose();
264+ Matereal.getInstance().dispose();
265+ }
266+ };
267+ frame.setFrameSize(coordProvider.getWidth(), coordProvider.getHeight());
268+ }
269+
270+ /**
271+ * Get clicked entity.
272+ *
273+ * @param x
274+ * @param y
275+ * @return Clicked entity
276+ */
277+ private Entity getClickedEntity(int x, int y) {
278+ Position p = coordProvider.screenToReal(new ScreenPosition(x, y));
279+ for (Entity e : Matereal.getInstance().getEntities()) {
280+ if (locationProvider.contains(e, p)) {
281+ return e;
282+ }
283+ }
284+ return null;
285+ }
286+}
Added: svn:mime-type
## -0,0 +1 ##
+text/plain
\ No newline at end of property
--- napkit/trunk/lib/bluecove/LICENSE.txt (revision 198)
+++ napkit/trunk/lib/bluecove/LICENSE.txt (nonexistent)
@@ -1,3 +0,0 @@
1-BlueCove is licensed under Apache License, Version 2.0 (http://www.apache.org/licenses/LICENSE-2.0). The license allows linking and distributing commercial software with BlueCove.
2-
3-Please see http://bluecove.org/ for the licensing detail.
\ No newline at end of file
Deleted: svn:mime-type
## -1 +0,0 ##
-text/plain
\ No newline at end of property
--- napkit/trunk/lib/jar-in-jar-loader/README.txt (revision 198)
+++ napkit/trunk/lib/jar-in-jar-loader/README.txt (nonexistent)
@@ -1,36 +0,0 @@
1-jar-in-jar-loader.zip was generated automatically by Fat Jar Eclipse Plug-In
2-and includes One-JAR codes.
3-To get more information about Fat Jar, see http://fjep.sourceforge.net/ .
4-
5-/*
6- * One-JAR™ (http://www.simontuffs.com/one-jar). Copyright (c) 2004-2007,
7- * P. Simon Tuffs (simon@simontuffs.com). All rights reserved.
8- *
9- * Redistribution and use in source and binary forms, with or without
10- * modification, are permitted provided that the following conditions are met:
11- *
12- * Redistributions of source code must retain the above copyright notice, this
13- * list of conditions and the following disclaimer.
14- *
15- * Redistributions in binary form must reproduce the above copyright notice,
16- * this list of conditions and the following disclaimer in the documentation
17- * and/or other materials provided with the distribution.
18- *
19- * Neither the name of P. Simon Tuffs, nor the names of any contributors,
20- * nor the name One-JAR may be used to endorse or promote products derived
21- * from this software without specific prior written permission.
22- *
23- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
24- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
25- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
26- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
27- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
28- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
29- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
30- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
31- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
32- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33- * POSSIBILITY OF SUCH DAMAGE.
34- *
35- * Including this file inside the built One-JAR file conforms with these terms.
36- */
\ No newline at end of file
Deleted: svn:mime-type
## -1 +0,0 ##
-text/plain
\ No newline at end of property
--- napkit/trunk/src.sample/BringItHereReal.java (revision 198)
+++ napkit/trunk/src.sample/BringItHereReal.java (nonexistent)
@@ -1,232 +0,0 @@
1-import java.awt.BasicStroke;
2-
3-import java.awt.AlphaComposite;
4-import java.awt.Color;
5-import java.awt.Composite;
6-import java.awt.Graphics;
7-import java.awt.Graphics2D;
8-import java.awt.Stroke;
9-import java.awt.event.MouseAdapter;
10-import java.awt.event.MouseEvent;
11-import java.util.Set;
12-import javax.swing.JFrame;
13-import javax.swing.JOptionPane;
14-
15-import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
16-import jp.digitalmuseum.mr.Matereal;
17-import jp.digitalmuseum.mr.entity.Entity;
18-import jp.digitalmuseum.mr.entity.Mini;
19-import jp.digitalmuseum.mr.entity.PhysicalBox;
20-import jp.digitalmuseum.mr.entity.PhysicalCylinder;
21-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
22-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
23-import jp.digitalmuseum.mr.gui.utils.EntityPainter;
24-import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
25-import jp.digitalmuseum.mr.resource.WheelsController;
26-import jp.digitalmuseum.mr.service.MarkerDetector;
27-import jp.digitalmuseum.mr.service.Camera;
28-import jp.digitalmuseum.mr.task.Push;
29-import jp.digitalmuseum.mr.task.Task;
30-import jp.digitalmuseum.mr.task.VectorFieldTask;
31-import jp.digitalmuseum.napkit.NapDetectionResult;
32-import jp.digitalmuseum.napkit.NapMarker;
33-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
34-import jp.digitalmuseum.utils.Position;
35-import jp.digitalmuseum.utils.ScreenPosition;
36-
37-/**
38- * Run a marker detection and show results.
39- *
40- * @author Jun KATO
41- */
42-public class BringItHereReal {
43- private Camera camera;
44- private MarkerDetector detector;
45- private VectorFieldTask push;
46- private ScreenPosition goal = null;
47-
48- public static void main(String[] args) {
49- new BringItHereReal();
50- }
51-
52- public BringItHereReal() {
53-
54- // Run a camera.
55- // Let users select a device to capture images.
56- final String identifier = (String) JOptionPane.showInputDialog(null,
57- "Select a device to capture images.", "Device list",
58- JOptionPane.QUESTION_MESSAGE, null,
59- new VideoCaptureFactoryImpl().queryIdentifiers(), null);
60- if ((identifier != null) && (identifier.length() > 0)) {
61- camera = new Camera(identifier);
62- } else {
63- camera = new Camera();
64- }
65- camera.setSize(800, 600);
66- camera.setRealSize(80, 60);
67- camera.start();
68-
69- // Run a marker detector.
70- detector = new MarkerDetector();
71- detector.loadCameraParameter("calib_qcam.dat");
72- detector.start();
73-
74- // Show a configuration window.
75- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(
76- detector));
77-
78- // Instantiate a robot.
79- final Mini robot = new Mini("Mini", "btspp://000666015818");
80-
81- // Instantiate boxes.
82- final Entity[] entities = new Entity[1];
83- entities[0] = new PhysicalBox("Milk chocolate", 10, 8);
84- detector.put(new NapMarker("markers\\4x4_35.patt", 5.5), entities[0]);
85- detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
86-
87- // Show detection results in real-time.
88- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
89- private static final long serialVersionUID = 1L;
90- private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
91- 5);
92- private transient final EntityPainter entityPainter = new EntityPainter(
93- 0.5);
94- private transient final Stroke stroke = new BasicStroke(5);
95- private transient final AlphaComposite alphaComp = AlphaComposite
96- .getInstance(AlphaComposite.SRC_OVER, .3f);
97- private transient final AlphaComposite alphaComp2 = AlphaComposite
98- .getInstance(AlphaComposite.SRC_OVER, .7f);
99-
100- @Override
101- public void paintComponent(Graphics g) {
102- super.paintComponent(g);
103- final Graphics2D g2 = (Graphics2D) g;
104- g2.translate(getOffsetX(), getOffsetY());
105-
106- final Composite comp = g2.getComposite();
107-
108- // Draw vectors.
109- g2.setComposite(alphaComp);
110- g.setColor(Color.blue);
111- vectorFieldPainter.paint(push, g2);
112- g2.setComposite(alphaComp2);
113- g2.setColor(Color.black);
114- g2.fillRect(0, 0, getWidth(), 35);
115-
116- // Draw entities.
117- g.setColor(Color.green);
118- for (Entity e : entities) {
119- entityPainter.paint(g2, e);
120- }
121- entityPainter.paint(g2, robot);
122-
123- // Get detected results.
124- final Set<NapDetectionResult> results = detector.getResults();
125-
126- // Draw each detected result.
127- for (final NapDetectionResult result : results) {
128-
129- // Draw corners
130- g.setColor(Color.orange);
131- detector.paint(g2, result);
132-
133- // Draw information for the square.
134- g.setColor(Color.cyan);
135- final ScreenPosition point = result.getPosition();
136- g2.drawLine(point.getX(), point.getY(), point.getX() + 55,
137- point.getY() + 43);
138- g2.drawRect(point.getX() + 55, point.getY() + 23, 200, 40);
139- g2.drawString("Confidence: " + result.getConfidence(),
140- point.getX() + 64, point.getY() + 40);
141- g2.drawString("Position: " + point, point.getX() + 64,
142- point.getY() + 56);
143- }
144-
145- // Draw status.
146- g2.setComposite(comp);
147- g.drawLine(0, 35, getWidth(), 35);
148- g.setColor(Color.white);
149- if (goal == null) {
150- g.drawString("Click to set the destination.", 10, 30);
151- } else {
152- if (push != null) {
153- g.drawString("Status: " + push, 10, 30);
154- } else {
155- g.drawString("Status: Stopped", 10, 30);
156- }
157- Stroke s = g2.getStroke();
158- g2.setStroke(stroke);
159- g.setColor(Color.black);
160- g.drawLine(goal.getX() - 5, goal.getY() - 5,
161- goal.getX() + 5, goal.getY() + 5);
162- g.drawLine(goal.getX() - 5, goal.getY() + 5,
163- goal.getX() + 5, goal.getY() - 5);
164- g2.setStroke(s);
165- }
166-
167- // Draw detected number of squares.
168- g.setColor(Color.cyan);
169- g2.drawString("detected: "
170- + (results == null ? 0 : results.size()), 10,
171- getHeight() - 10);
172- }
173- };
174-
175- // Bring the clicked object to the location in front of the user.
176- panel.addMouseListener(new MouseAdapter() {
177- @Override
178- public void mouseReleased(MouseEvent e) {
179-
180- // Stop the previously assigned task.
181- final Task task = robot.getAssignedTask(WheelsController.class);
182- if (task != null)
183- task.stop();
184-
185- // Set the goal position.
186- final int x = e.getX(), y = e.getY();
187- if (goal == null) {
188- goal = new ScreenPosition(x, y);
189- return;
190- }
191-
192- // Push the clicked object to the goal.
193- final Entity entity = getClickedEntity(x, y);
194- if (entity != null && entity != robot) {
195- push = new Push(entity, camera.screenToReal(goal));
196- if (push.assign(robot))
197- push.start();
198- }
199- }
200-
201- });
202-
203- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel) {
204- private static final long serialVersionUID = 1L;
205-
206- @Override
207- public void dispose() {
208- configFrame.dispose();
209- super.dispose();
210- Matereal.getInstance().dispose();
211- }
212- };
213- frame.setFrameSize(camera.getWidth(), camera.getHeight());
214- }
215-
216- /**
217- * Get clicked entity.
218- *
219- * @param x
220- * @param y
221- * @return Clicked entity
222- */
223- private Entity getClickedEntity(int x, int y) {
224- Position p = camera.screenToReal(new ScreenPosition(x, y));
225- for (Entity e : Matereal.getInstance().getEntities()) {
226- if (detector.contains(e, p)) {
227- return e;
228- }
229- }
230- return null;
231- }
232-}
Deleted: svn:mime-type
## -1 +0,0 ##
-text/plain
\ No newline at end of property
--- napkit/trunk/src.sample/BringItHere.java (revision 198)
+++ napkit/trunk/src.sample/BringItHere.java (revision 199)
@@ -17,18 +17,11 @@
1717 import jp.digitalmuseum.mr.entity.Entity;
1818 import jp.digitalmuseum.mr.entity.Mini;
1919 import jp.digitalmuseum.mr.entity.PhysicalBox;
20-import jp.digitalmuseum.mr.entity.PhysicalCylinder;
21-import jp.digitalmuseum.mr.entity.Robot;
2220 import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
2321 import jp.digitalmuseum.mr.gui.ImageProviderPanel;
2422 import jp.digitalmuseum.mr.gui.utils.EntityPainter;
2523 import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
26-import jp.digitalmuseum.mr.hakoniwa.Hakoniwa;
27-import jp.digitalmuseum.mr.hakoniwa.HakoniwaBox;
28-import jp.digitalmuseum.mr.hakoniwa.HakoniwaRobot;
2924 import jp.digitalmuseum.mr.resource.WheelsController;
30-import jp.digitalmuseum.mr.service.CoordProvider;
31-import jp.digitalmuseum.mr.service.LocationProvider;
3225 import jp.digitalmuseum.mr.service.MarkerDetector;
3326 import jp.digitalmuseum.mr.service.Camera;
3427 import jp.digitalmuseum.mr.task.Push;
@@ -37,21 +30,18 @@
3730 import jp.digitalmuseum.napkit.NapDetectionResult;
3831 import jp.digitalmuseum.napkit.NapMarker;
3932 import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
40-import jp.digitalmuseum.utils.Location;
4133 import jp.digitalmuseum.utils.Position;
4234 import jp.digitalmuseum.utils.ScreenPosition;
4335
4436 /**
45- * Run a marker detection and show results.
37+ * Bring it here!
38+ * Test of assigning a task to a robot.
4639 *
4740 * @author Jun KATO
4841 */
4942 public class BringItHere {
50- private final static boolean REAL = false;
51- private Robot robot;
52- private Entity[] entities;
53- private CoordProvider coordProvider;
54- private LocationProvider locationProvider;
43+ private Camera camera;
44+ private MarkerDetector detector;
5545 private VectorFieldTask push;
5646 private ScreenPosition goal = null;
5747
@@ -61,81 +51,48 @@
6151
6252 public BringItHere() {
6353
64- final JFrame configFrame;
65- final MarkerDetector detector;
66- if (REAL) {
54+ // Run a camera.
55+ // Let users select a device to capture images.
56+ final String identifier = (String) JOptionPane.showInputDialog(null,
57+ "Select a device to capture images.", "Device list",
58+ JOptionPane.QUESTION_MESSAGE, null,
59+ new VideoCaptureFactoryImpl().queryIdentifiers(), null);
60+ if ((identifier != null) && (identifier.length() > 0)) {
61+ camera = new Camera(identifier);
62+ } else {
63+ camera = new Camera();
64+ }
65+ camera.setSize(800, 600);
66+ camera.setRealSize(80, 60);
67+ camera.start();
6768
68- // Run a camera.
69- // Let users select a device to capture images.
70- final String identifier = (String) JOptionPane.showInputDialog(
71- null, "Select a device to capture images.", "Device list",
72- JOptionPane.QUESTION_MESSAGE, null,
73- new VideoCaptureFactoryImpl().queryIdentifiers(), null);
74- final Camera camera;
75- if ((identifier != null) && (identifier.length() > 0)) {
76- camera = new Camera(identifier);
77- } else {
78- camera = new Camera();
79- }
80- camera.setSize(800, 600);
81- camera.setRealSize(80, 60);
82- camera.start();
83- coordProvider = camera;
69+ // Run a marker detector.
70+ detector = new MarkerDetector();
71+ detector.loadCameraParameter("calib_qcam.dat");
72+ detector.start();
8473
85- // Run a marker detector.
86- detector = new MarkerDetector();
87- detector.loadCameraParameter("calib_qcam.dat");
88- detector.start();
89- locationProvider = detector;
74+ // Show a configuration window.
75+ final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(
76+ detector));
9077
91- // Show a configuration window.
92- configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
78+ // Initialize a robot.
79+ final Mini robot = new Mini("Mini", "btspp://000666015818");
9380
94- // Instantiate a robot.
95- robot = new Mini("Mini", "btspp://000666015818");
81+ // Initialize boxes.
82+ final Entity[] entities = new Entity[1];
83+ entities[0] = new PhysicalBox("Milk chocolate", 10, 8);
84+ detector.put(new NapMarker("markers\\4x4_35.patt", 5.5), entities[0]);
85+ detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
9686
97- // Instantiate boxes.
98- entities = new Entity[2];
99- entities[0] = new PhysicalCylinder("My cup", 3);
100- entities[1] = new PhysicalBox("My box", 10, 8);
101- detector.put(new NapMarker("markers\\4x4_35.patt", 5.5),
102- entities[0]);
103- detector.put(new NapMarker("markers\\4x4_78.patt", 5.5),
104- entities[1]);
105- detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
106- }
107-
108- else {
109-
110- // Run a hakoniwa.
111- Hakoniwa hakoniwa = new Hakoniwa();
112- hakoniwa.start();
113- coordProvider = hakoniwa;
114- locationProvider = hakoniwa;
115-
116- robot = new HakoniwaRobot("Hakoniwa robot", new Location(hakoniwa
117- .getRealWidth() / 2, hakoniwa.getRealHeight() / 2,
118- -Math.PI * 3 / 4));
119- entities = new Entity[5];
120- double x = hakoniwa.getRealWidth() / 2;
121- double y = hakoniwa.getRealHeight() / 2;
122- double r = 200;
123- for (int i = 0; i < entities.length; i++) {
124- double theta = Math.PI * i / (entities.length - 1);
125- entities[i] = new HakoniwaBox("Box " + i, x + Math.cos(theta)
126- * r, y - Math.sin(theta) * r, 20 * (i + 1),
127- 15 * (i + 1), theta);
128- }
129- }
130-
13187 // Show detection results in real-time.
132- final ImageProviderPanel panel = new ImageProviderPanel(coordProvider) {
88+ final ImageProviderPanel panel = new ImageProviderPanel(camera) {
13389 private static final long serialVersionUID = 1L;
134- private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
135- REAL ? 0.5 : 20);
136- private transient final EntityPainter entityPainter = new EntityPainter(
137- 0.5);
138- private transient final Stroke stroke = new BasicStroke(5);
90+ private transient final VectorFieldPainter vectorFieldPainter =
91+ new VectorFieldPainter(5);
92+ private transient final EntityPainter entityPainter =
93+ new EntityPainter(0.5);
94+ private transient final Stroke stroke =
95+ new BasicStroke(5);
13996 private transient final AlphaComposite alphaComp = AlphaComposite
14097 .getInstance(AlphaComposite.SRC_OVER, .3f);
14198 private transient final AlphaComposite alphaComp2 = AlphaComposite
@@ -146,7 +103,6 @@
146103 super.paintComponent(g);
147104 final Graphics2D g2 = (Graphics2D) g;
148105 g2.translate(getOffsetX(), getOffsetY());
149-
150106 final Composite comp = g2.getComposite();
151107
152108 // Draw vectors.
@@ -153,74 +109,67 @@
153109 g2.setComposite(alphaComp);
154110 g.setColor(Color.blue);
155111 vectorFieldPainter.paint(push, g2);
156- g2.setComposite(comp);
112+ g2.setComposite(alphaComp2);
113+ g2.setColor(Color.black);
114+ g2.fillRect(0, 0, getWidth(), 35);
157115
158116 // Draw entities.
159- g.setColor(Color.green);
117+ g2.setColor(Color.green);
160118 for (Entity e : entities) {
161119 entityPainter.paint(g2, e);
162120 }
163121 entityPainter.paint(g2, robot);
164122
165- int detected;
166- if (REAL) {
167- // Get detected results.
168- final Set<NapDetectionResult> results = detector
169- .getResults();
170- detected = results.size();
123+ // Get detected results.
124+ final Set<NapDetectionResult> results = detector.getResults();
171125
172- // Draw each detected result.
173- for (final NapDetectionResult result : results) {
126+ // Draw each detected result.
127+ for (final NapDetectionResult result : results) {
174128
175- // Draw corners
176- g.setColor(Color.orange);
177- detector.paint(g2, result);
129+ // Draw corners
130+ g2.setColor(Color.orange);
131+ detector.paint(g2, result);
178132
179- // Draw information for the square.
180- g.setColor(Color.cyan);
181- final ScreenPosition point = result.getPosition();
182- g2.drawLine(point.getX(), point.getY(),
183- point.getX() + 55, point.getY() + 43);
184- g2.drawRect(point.getX() + 55, point.getY() + 23, 200,
185- 40);
186- g2.drawString("Confidence: " + result.getConfidence(),
187- point.getX() + 64, point.getY() + 40);
188- g2.drawString("Position: " + point, point.getX() + 64,
189- point.getY() + 56);
190- }
133+ // Draw information for the square.
134+ g.setColor(Color.cyan);
135+ final ScreenPosition point = result.getPosition();
136+ g2.drawLine(point.getX(), point.getY(), point.getX() + 55,
137+ point.getY() + 43);
138+ g2.drawRect(point.getX() + 55, point.getY() + 23, 200, 40);
139+ g2.drawString("Confidence: " + result.getConfidence(),
140+ point.getX() + 64, point.getY() + 40);
141+ g2.drawString("Position: " + point, point.getX() + 64,
142+ point.getY() + 56);
191143 }
192144
193145 // Draw status.
194- g2.setComposite(alphaComp2);
195- g2.setColor(Color.black);
196- g2.fillRect(0, 0, coordProvider.getWidth(), 35);
197146 g2.setComposite(comp);
198- g.drawLine(0, 35, coordProvider.getWidth(), 35);
199- g.setColor(Color.white);
147+ g2.drawLine(0, 35, getWidth(), 35);
148+ g2.setColor(Color.white);
200149 if (goal == null) {
201- g.drawString("Click to set the destination.", 10, 30);
150+ g2.drawString("Click to set the destination.", 10, 30);
202151 } else {
203- if (push != null && !push.isFinished()) {
204- g.drawString("Status: " + push, 10, 30);
152+ if (push != null) {
153+ g2.drawString("Status: " + push, 10, 30);
205154 } else {
206- g.drawString("Status: Stopped", 10, 30);
155+ g2.drawString("Status: Stopped", 10, 30);
207156 }
208157 Stroke s = g2.getStroke();
209158 g2.setStroke(stroke);
210- g.setColor(Color.black);
211- g.drawLine(goal.getX() - 5, goal.getY() - 5,
159+ g2.setColor(Color.black);
160+ g2.drawLine(goal.getX() - 5, goal.getY() - 5,
212161 goal.getX() + 5, goal.getY() + 5);
213- g.drawLine(goal.getX() - 5, goal.getY() + 5,
162+ g2.drawLine(goal.getX() - 5, goal.getY() + 5,
214163 goal.getX() + 5, goal.getY() - 5);
215164 g2.setStroke(s);
216165 }
217166
218- if (REAL) {
219- // Draw detected number of squares.
220- g.setColor(Color.cyan);
221- g2.drawString("detected: " + detected,
222- 10, getHeight() - 10);
223- }
167+ // Draw detected number of squares.
168+ g2.setColor(Color.cyan);
169+ g2.drawString("detected: "
170+ + (results == null ? 0 : results.size()), 10,
171+ getHeight() - 10);
172+ g2.dispose();
224173 }
225174 };
226175
@@ -244,7 +193,7 @@
244193 // Push the clicked object to the goal.
245194 final Entity entity = getClickedEntity(x, y);
246195 if (entity != null && entity != robot) {
247- push = new Push(entity, coordProvider.screenToReal(goal));
196+ push = new Push(entity, camera.screenToReal(goal));
248197 if (push.assign(robot))
249198 push.start();
250199 }
@@ -257,14 +206,12 @@
257206
258207 @Override
259208 public void dispose() {
260- if (REAL) {
261- configFrame.dispose();
262- }
209+ configFrame.dispose();
263210 super.dispose();
264211 Matereal.getInstance().dispose();
265212 }
266213 };
267- frame.setFrameSize(coordProvider.getWidth(), coordProvider.getHeight());
214+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
268215 }
269216
270217 /**
@@ -275,9 +222,9 @@
275222 * @return Clicked entity
276223 */
277224 private Entity getClickedEntity(int x, int y) {
278- Position p = coordProvider.screenToReal(new ScreenPosition(x, y));
225+ Position p = camera.screenToReal(new ScreenPosition(x, y));
279226 for (Entity e : Matereal.getInstance().getEntities()) {
280- if (locationProvider.contains(e, p)) {
227+ if (detector.contains(e, p)) {
281228 return e;
282229 }
283230 }
--- napkit/trunk/src.sample/DetectMarkerAndPaintEntity.java (nonexistent)
+++ napkit/trunk/src.sample/DetectMarkerAndPaintEntity.java (revision 199)
@@ -0,0 +1,136 @@
1+import java.awt.BasicStroke;
2+import java.awt.Color;
3+import java.awt.Graphics;
4+import java.awt.Graphics2D;
5+import java.awt.Shape;
6+import java.awt.Stroke;
7+import java.awt.geom.Rectangle2D;
8+import java.util.Set;
9+import javax.swing.JFrame;
10+import javax.swing.JOptionPane;
11+
12+import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
13+import jp.digitalmuseum.mr.Matereal;
14+import jp.digitalmuseum.mr.entity.Entity;
15+import jp.digitalmuseum.mr.entity.EntityImpl;
16+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
17+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
18+import jp.digitalmuseum.mr.gui.utils.EntityPainter;
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 marker detection and show its results.
28+ *
29+ * @author Jun KATO
30+ */
31+public class DetectMarkerAndPaintEntity {
32+
33+ public static void main(String[] args) {
34+ new DetectMarkerAndPaintEntity();
35+ }
36+
37+ public DetectMarkerAndPaintEntity() {
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_150.patt", 45);
64+ final Entity dummy = new EntityImpl("test") {
65+ public Shape getShape() { return new Rectangle2D.Double(-10, -10, 20, 20); }
66+ };
67+ detector.put(marker, dummy);
68+
69+ // Initialize a painter
70+ final EntityPainter painter = new EntityPainter();
71+
72+ // Show detection results in real-time.
73+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
74+ new ImageProviderPanel(camera) {
75+ private static final long serialVersionUID = 1L;
76+ private transient Stroke stroke;
77+ @Override public void paintComponent(Graphics g) {
78+ super.paintComponent(g);
79+ final Graphics2D g2 = (Graphics2D) g;
80+ if (stroke == null) {
81+ stroke = new BasicStroke(5);
82+ }
83+ g2.setStroke(stroke);
84+ g2.translate(getOffsetX(), getOffsetY());
85+
86+ // Get detected results.
87+ final Set<NapDetectionResult> results = detector.getResults();
88+
89+ // Draw each detected result.
90+ for (final NapDetectionResult result : results) {
91+
92+ // Draw corners
93+ g2.setColor(Color.orange);
94+ detector.paint(g2, result);
95+
96+ // Draw information for the square.
97+ g2.setColor(Color.cyan);
98+ final ScreenPosition point = result.getPosition();
99+ g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
100+ g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);
101+ drawString(g2, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
102+ drawString(g2, "Position: "+point, point.getX()+64, point.getY()+56);
103+ }
104+
105+ // Paint a entity
106+ painter.paint(g2, dummy);
107+
108+ // Draw detected number of squares.
109+ drawString(g2, "detected: "+(results == null ? 0 : results.size()),
110+ 10, getHeight()-10);
111+ g2.dispose();
112+ }
113+
114+ /**
115+ * Draw a string with 1px simple black border.
116+ */
117+ private void drawString(Graphics g, String s, int x, int y) {
118+ g.setColor(Color.black);
119+ g.drawString(s, x+1, y);
120+ g.drawString(s, x-1, y);
121+ g.drawString(s, x, y-1);
122+ g.drawString(s, x, y+1);
123+ g.setColor(Color.cyan);
124+ g.drawString(s, x, y);
125+ }
126+ }) {
127+ private static final long serialVersionUID = 1L;
128+ @Override public void dispose() {
129+ configFrame.dispose();
130+ super.dispose();
131+ Matereal.getInstance().dispose();
132+ }
133+ };
134+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
135+ }
136+}
--- napkit/trunk/src.sample/DetectMarker.java (revision 198)
+++ napkit/trunk/src.sample/DetectMarker.java (revision 199)
@@ -1,7 +1,4 @@
1-
2-
31 import java.awt.BasicStroke;
4-
52 import java.awt.Color;
63 import java.awt.Graphics;
74 import java.awt.Graphics2D;
@@ -20,11 +17,11 @@
2017 import jp.digitalmuseum.mr.service.Camera;
2118 import jp.digitalmuseum.napkit.NapDetectionResult;
2219 import jp.digitalmuseum.napkit.NapMarker;
23-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
20+import jp.digitalmuseum.napkit.gui.MarkerDetectorPanel;
2421 import jp.digitalmuseum.utils.ScreenPosition;
2522
2623 /**
27- * Run a marker detection and show results.
24+ * Run marker detection and show its results.
2825 *
2926 * @author Jun KATO
3027 */
@@ -57,11 +54,11 @@
5754 detector.start();
5855
5956 // Show a configuration window.
60- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
57+ final JFrame configFrame = new DisposeOnCloseFrame(new MarkerDetectorPanel(detector));
6158
6259 // Detect a marker.
63- final NapMarker marker = new NapMarker("markers\\4x4_35.patt",120);
64- final Entity dummy = new EntityImpl("test");
60+ final NapMarker marker = new NapMarker("markers\\4x4_150.patt", 120);
61+ final Entity dummy = new EntityImpl("dummy");
6562 detector.put(marker, dummy);
6663
6764 // Show detection results in real-time.
@@ -85,11 +82,11 @@
8582 for (final NapDetectionResult result : results) {
8683
8784 // Draw corners
88- g.setColor(Color.orange);
85+ g2.setColor(Color.orange);
8986 detector.paint(g2, result);
9087
9188 // Draw information for the square.
92- g.setColor(Color.cyan);
89+ g2.setColor(Color.cyan);
9390 final ScreenPosition point = result.getPosition();
9491 g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
9592 g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);
@@ -100,6 +97,7 @@
10097 // Draw detected number of squares.
10198 drawString(g2, "detected: "+(results == null ? 0 : results.size()),
10299 10, getHeight()-10);
100+ g2.dispose();
103101 }
104102
105103 /**
--- napkit/trunk/src.sample/ClickAndRun.java (revision 198)
+++ napkit/trunk/src.sample/ClickAndRun.java (revision 199)
@@ -115,7 +115,7 @@
115115 if (task != null) {
116116 task.stop();
117117 }
118- move = new Move(camera.screenToReal(goal));
118+ move = new Move(destination);
119119 if (move.assign(robot)) {
120120 move.start();
121121 }
--- napkit/trunk/build.xml (revision 198)
+++ napkit/trunk/build.xml (revision 199)
@@ -8,17 +8,17 @@
88
99 <!-- ****Properties**** -->
1010 <!-- Software version -->
11- <property name="version" value="0.2" />
12- <property name="version-matereal" value="0.1" />
13- <property name="version-capture" value="0.1" />
14- <property name="version-connector" value="0.1" />
11+ <property name="version" value="1.0.0" />
12+ <property name="version-matereal" value="1.0.0" />
13+ <property name="version-capture" value="1.0.0" />
14+ <property name="version-connector" value="1.0.0" />
1515
1616 <!-- Dependent class pathes -->
17- <property name="matereal" value="lib/matereal/matereal-${version-matereal}.jar"/>
18- <property name="matereal-utils" value="lib/matereal/matereal-utils-${version-matereal}.jar"/>
19- <property name="capture" value="lib/capture/capture-${version-capture}.jar" />
20- <property name="connector" value="lib/connector/connector-${version-connector}.jar"/>
21- <property name="classpath" value="bin;${matereal};${capture};${connector}" />
17+ <property name="matereal" value="../matereal/dist/lib/matereal-${version-matereal}.jar"/>
18+ <property name="matereal-utils" value="../matereal/dist/lib/matereal-utils-${version-matereal}.jar"/>
19+ <property name="capture" value="../lib/capture/capture-${version-capture}.jar" />
20+ <property name="connector" value="../lib/connector/connector-${version-connector}.jar"/>
21+ <property name="classpath" value="${matereal};${capture};${connector}" />
2222
2323 <!-- Source directory -->
2424 <property name="src.dir" value="src" />
@@ -48,8 +48,7 @@
4848 <!-- Compile -->
4949 <target name="compile">
5050 <mkdir dir="${classes.dir}" />
51- <javac srcdir="${nyar.dir}" destdir="${classes.dir}" encoding="UTF-8" />
52- <javac srcdir="${src.dir}" destdir="${classes.dir}" classpath="${classpath}" encoding="UTF-8" />
51+ <javac srcdir="${nyar.dir};${src.dir}" destdir="${classes.dir}" classpath="${classpath}" encoding="UTF-8" />
5352 </target>
5453
5554 <!-- Extract -->
--- connector/trunk/LICENSE.txt (revision 198)
+++ connector/trunk/LICENSE.txt (revision 199)
@@ -1,5 +1,5 @@
11 connector
2-Copyright (C) 2009 Jun KATO
2+Copyright (C) 2010 Jun KATO
33
44 The contents of this file are subject to the Mozilla Public License Version
55 1.1 (the "License"); you may not use this file except in compliance with
@@ -15,7 +15,7 @@
1515
1616 The Initial Developer of the Original Code is Jun KATO.
1717 Portions created by the Initial Developer are
18-Copyright (C) 2009 Jun KATO. All Rights Reserved.
18+Copyright (C) 2010 Jun KATO. All Rights Reserved.
1919
2020 Contributor(s): Jun KATO
2121
--- connector/trunk/build.xml (revision 198)
+++ connector/trunk/build.xml (revision 199)
@@ -8,59 +8,59 @@
88
99 <!-- ****Properties**** -->
1010 <!-- Software version -->
11- <property name="version" value="0.1" />
11+ <property name="connector-version" value="1.0.0" />
1212
1313 <!-- Dependent class pathes -->
14- <property name="bluecove" value="lib/bluecove/bluecove-2.1.0.jar" />
15- <property name="rxtxlib" value="lib/rxtx-2.1-7-bins-r2/RXTXcomm.jar" />
16- <property name="classpath" value="${bluecove};${rxtxlib}" />
14+ <property name="connector-bluecove" value="lib/connector/connector-2.1.0.jar" />
15+ <property name="connector-rxtxlib" value="lib/rxtx-2.1-7-bins-r2/RXTXcomm.jar" />
16+ <property name="connector-classpath" value="${connector-bluecove};${connector-rxtxlib}" />
1717
1818 <!-- Source directory -->
19- <property name="src.dir" value="src" />
19+ <property name="connector-src.dir" value="src" />
2020
2121 <!-- Classes destination directory -->
22- <property name="classes.dir" value="bin" />
22+ <property name="connector-classes.dir" value="bin" />
2323
2424 <!-- Javadoc destination -->
25- <property name="javadoc.dir" value="docs" />
25+ <property name="connector-javadoc.dir" value="docs" />
2626
2727 <!-- jar file name -->
28- <property name="jar.name" value="connector-${version}.jar" />
28+ <property name="connector-jar.name" value="connector-${connector-version}.jar" />
2929
3030 <!-- ****Targets**** -->
3131 <!-- jar -->
3232 <target name="jar" depends="compile">
33- <jar jarfile="${jar.name}">
34- <fileset dir="${classes.dir}" includes="**/*.class" />
35- <fileset dir="${src.dir}" includes="**/*.java **/*.properties" />
33+ <jar jarfile="${connector-jar.name}">
34+ <fileset dir="${connector-classes.dir}" includes="**/*.class" />
35+ <fileset dir="${connector-src.dir}" includes="**/*.java **/*.properties" />
3636 </jar>
3737 </target>
3838
3939 <!-- Compile -->
4040 <target name="compile">
41- <mkdir dir="${classes.dir}" />
42- <javac srcdir="${src.dir}" destdir="${classes.dir}"
43- classpath="${classpath}"
41+ <mkdir dir="${connector-classes.dir}" />
42+ <javac srcdir="${connector-src.dir}" destdir="${connector-classes.dir}"
43+ classpath="${connector-classpath}"
4444 encoding="UTF-8" />
4545 </target>
4646
4747 <!-- Javadoc -->
4848 <target name="javadoc">
49- <javadoc sourcepath="${src.dir}"
50- destdir="${javadoc.dir}"
49+ <javadoc sourcepath="${connector-src.dir}"
50+ destdir="${connector-javadoc.dir}"
5151 packagenames="jp.digitalmuseum.*"
5252 charset="UTF-8"
5353 encoding="UTF-8"
5454 docencoding="UTF-8"
5555 locale="en"
56- classpath="${classpath}"
56+ classpath="${connector-classpath}"
5757 bottom="Copyright by Jun KATO (arc@dmz) at http://matereal.sourceforge.jp/" />
5858 </target>
5959
6060 <!-- Cleaning -->
6161 <target name="clean">
62- <delete dir="${classes.dir}" />
63- <delete dir="${javadoc.dir}" />
64- <delete file="${jar.name}" />
62+ <delete dir="${connector-classes.dir}" />
63+ <delete dir="${connector-javadoc.dir}" />
64+ <delete file="${connector-jar.name}" />
6565 </target>
6666 </project>
\ No newline at end of file
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