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matereal: Commit

Commit MetaInfo

Revision	198 (tree)
Zeit	2010-11-12 09:54:36
Autor	arc

Log Message

managing code.

Ändern Zusammenfassung

modified: napkit/trunk/.classpath (diff)
delete: napkit/trunk/src.sample.old/sample/Step2_RunDetectMarker.java
delete: napkit/trunk/lib/dsj
delete: napkit/trunk/lib/capture/capture-0.1.jar
delete: napkit/trunk/lib/capture/README.txt
delete: napkit/trunk/lib/capture/LICENSE.txt
delete: napkit/trunk/lib/capture
delete: napkit/trunk/lib/matereal/README.txt
delete: napkit/trunk/lib/matereal/matereal-utils-0.1.jar
delete: napkit/trunk/lib/matereal/LICENSE.txt
delete: napkit/trunk/lib/matereal/matereal-0.1.jar
delete: napkit/trunk/lib/matereal
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/README.txt
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/RXTXcomm.jar
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/rxtxParallel.dll
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/rxtxSerial.dll
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/LICENSE.txt
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2/librxtxSerial.jnilib
delete: napkit/trunk/lib/rxtx-2.1-7-bins-r2
delete: napkit/trunk/lib/connector/README.txt
delete: napkit/trunk/lib/connector/LICENSE.txt
delete: napkit/trunk/lib/connector/connector-0.1.jar
delete: napkit/trunk/lib/connector
delete: napkit/trunk/src.sample/BringItHereDual.java
modified: napkit/trunk/src.sample/BringItHere.java (diff)
added: napkit/trunk/src.sample/BringItHereReal.java (diff)
added: napkit/trunk/src.sample/DetectMarker.java (diff)

Diff

--- napkit/trunk/src.sample.old/sample/Step2_RunDetectMarker.java (revision 197)

+++ napkit/trunk/src.sample.old/sample/Step2_RunDetectMarker.java (nonexistent)

		@@ -1,127 +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		-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/trunk/lib/capture/README.txt (revision 197)

+++ napkit/trunk/lib/capture/README.txt (nonexistent)

		@@ -1,65 +0,0 @@
1		-Webcam capture package - capture
2		-Copyright (C) 2009 Jun KATO
3		-
4		-version 0.1
5		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6		-
7		-Webcam capture package, or simply "capture", is a simple
8		-package for capturing real-time images using webcams.
9		-It uses
10		- - DirectShow for Windows
11		- - QuickTime for Mac OSX
12		- - Java Media Framework (Video4Linux) for Linux
13		-to capture images.
14		-
15		-"capture" is distributed under MPL 1.1/GPL 2.0/LGPL 2.1 triple
16		-license. Please read LICENSE.txt for the detail.
17		-You can get the source code by extracting capture.jar.
18		-
19		-This toolkit works well with "napkit" which can detect
20		-position and rotation of ARToolKit markers in captured images.
21		-Please see http://matereal.sourceforge.jp/ for details.
22		-
23		-
24		-=== How to use ===
25		-
26		-== Windows
27		-
28		-To use this toolkit on Windows (in other words, when capturing
29		-images with DirectShow), you will need "DirectShow for Java",
30		-a wrapper library of DirectShow for Java developed by humatic.
31		-Note that you are assumed to agree with its license when you
32		-use its function.
33		-The library and its license documents are available at:
34		-http://www.humatic.de/htools/dsj.htm
35		-
36		-When you get dsj.jar and dsj.dll in the library,
37		-please place it under the directory where Java VM can find.
38		-
39		-== Mac OSX (or Windows with WinVDIG)
40		-
41		-To use this toolkit on Mac OSX (in other words, when capturing
42		-images with QuickTime), you will need "QuickTime for Java",
43		-a wrapper library of QuickTime for Java developed by Apple.
44		-
45		-The library is installed by default in the case of Mac OSX,
46		-so nothing is needed for using this library.
47		-When you use Windows, you must install QuickTime Player and
48		-WinVDIG before using this function.
49		-
50		-To learn about WinVDIG, please ask Google:
51		-http://www.google.co.jp/search?q=winvdig
52		-
53		-== Linux (or to whom loves Java Media Framework)
54		-
55		-To use this toolkit on Linux (in other words, when capturing
56		-images with Java Media Framework), you will need
57		-"Java Media Framework" installed on your computer.
58		-
59		-To learn about Java Media Framework, please see:
60		-http://java.sun.com/javase/technologies/desktop/media/jmf/
61		-
62		-
63		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
64		-http://matereal.sourceforge.jp/
65		-arc (at) digitalmuseum.jp
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--- napkit/trunk/lib/capture/LICENSE.txt (revision 197)

+++ napkit/trunk/lib/capture/LICENSE.txt (nonexistent)

		@@ -1,32 +0,0 @@
1		-Webcam capture package - capture
2		-Copyright (C) 2009 Jun KATO
3		-
4		-The contents of this file are subject to the Mozilla Public License Version
5		-1.1 (the "License"); you may not use this file except in compliance with
6		-the License. You may obtain a copy of the License at
7		-http://www.mozilla.org/MPL/
8		-
9		-Software distributed under the License is distributed on an "AS IS" basis,
10		-WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
11		-for the specific language governing rights and limitations under the
12		-License.
13		-
14		-The Original Code is capture.
15		-
16		-The Initial Developer of the Original Code is Jun KATO.
17		-Portions created by the Initial Developer are
18		-Copyright (C) 2009 Jun KATO. All Rights Reserved.
19		-
20		-Contributor(s): Jun KATO
21		-
22		-Alternatively, the contents of this file may be used under the terms of
23		-either of the GNU General Public License Version 2 or later (the "GPL"),
24		-or the GNU Lesser General Public License Version 2.1 or later (the "LGPL"),
25		-in which case the provisions of the GPL or the LGPL are applicable instead
26		-of those above. If you wish to allow use of your version of this file only
27		-under the terms of either the GPL or the LGPL, and not to allow others to
28		-use your version of this file under the terms of the MPL, indicate your
29		-decision by deleting the provisions above and replace them with the notice
30		-and other provisions required by the GPL or the LGPL. If you do not delete
31		-the provisions above, a recipient may use your version of this file under
32		-the terms of any one of the MPL, the GPL or the LGPL.
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--- napkit/trunk/lib/matereal/LICENSE.txt (revision 197)

+++ napkit/trunk/lib/matereal/LICENSE.txt (nonexistent)

		@@ -1,32 +0,0 @@
1		-matereal
2		-Copyright (C) 2009 Jun KATO
3		-
4		-The contents of this file are subject to the Mozilla Public License Version
5		-1.1 (the "License"); you may not use this file except in compliance with
6		-the License. You may obtain a copy of the License at
7		-http://www.mozilla.org/MPL/
8		-
9		-Software distributed under the License is distributed on an "AS IS" basis,
10		-WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
11		-for the specific language governing rights and limitations under the
12		-License.
13		-
14		-The Original Code is matereal.
15		-
16		-The Initial Developer of the Original Code is Jun KATO.
17		-Portions created by the Initial Developer are
18		-Copyright (C) 2009 Jun KATO. All Rights Reserved.
19		-
20		-Contributor(s): Jun KATO
21		-
22		-Alternatively, the contents of this file may be used under the terms of
23		-either of the GNU General Public License Version 2 or later (the "GPL"),
24		-or the GNU Lesser General Public License Version 2.1 or later (the "LGPL"),
25		-in which case the provisions of the GPL or the LGPL are applicable instead
26		-of those above. If you wish to allow use of your version of this file only
27		-under the terms of either the GPL or the LGPL, and not to allow others to
28		-use your version of this file under the terms of the MPL, indicate your
29		-decision by deleting the provisions above and replace them with the notice
30		-and other provisions required by the GPL or the LGPL. If you do not delete
31		-the provisions above, a recipient may use your version of this file under
32		-the terms of any one of the MPL, the GPL or the LGPL.
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--- napkit/trunk/lib/matereal/README.txt (revision 197)

+++ napkit/trunk/lib/matereal/README.txt (nonexistent)

		@@ -1,32 +0,0 @@
1		-matereal
2		-Copyright (C) 2009 Jun KATO
3		-
4		-version alpha
5		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6		-
7		-"matereal" is a Java toolkit that allows to operate home-robots
8		-easily.
9		-
10		-This library is distributed under MPL 1.1/GPL 2.0/LGPL 2.1
11		-triple license. Please read LICENSE.txt for the detail.
12		-You can get the source code by extracting matereal.jar.
13		-
14		-This library includes whole distribution of Webcam capture
15		-package, or simply "capture" for capturing images with webcams.
16		-"capture" is developed by the same author and distributed under
17		-the same license with this library.
18		-
19		-"napkit" is required when you want to know position and
20		-rotation of robots and other physical entities in your
21		-application by detecting ARToolKit markers in webcam-captured
22		-images. "napkit" is distributed under GNU GPLv3
23		-Please see http://matereal.sourceforge.jp/ for details.
24		-
25		-BlueCove is used for bluetooth connection. It is developed at
26		-http://bluecove.org/ and distributed under Apache License,
27		-Version 2.0.
28		-
29		-
30		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
31		-http://matereal.sourceforge.jp/
32		-arc (at) digitalmuseum.jp
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--- napkit/trunk/lib/rxtx-2.1-7-bins-r2/README.txt (revision 197)

+++ napkit/trunk/lib/rxtx-2.1-7-bins-r2/README.txt (nonexistent)

		@@ -1,3 +0,0 @@
1		-.dll are native libraries for Windows. .jnilib is a native library for Mac OSX.
2		-If you are using Linux, download RXTXlib and use the appropriate binary within it.
3		-Please see http://rxtx.qbang.org/wiki/ for the detailed usage guide.
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--- napkit/trunk/lib/rxtx-2.1-7-bins-r2/LICENSE.txt (revision 197)

+++ napkit/trunk/lib/rxtx-2.1-7-bins-r2/LICENSE.txt (nonexistent)

		@@ -1,2 +0,0 @@
1		-RXTXcomm.jar and rxtx* are distributed under LGPL v 2.1 + Linking Over Controlled Interface license.
2		-Please see http://users.frii.com/jarvi/rxtx/license.html for the licensing detail.
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--- napkit/trunk/lib/connector/README.txt (revision 197)

+++ napkit/trunk/lib/connector/README.txt (nonexistent)

		@@ -1,25 +0,0 @@
1		-connector
2		-Copyright (C) 2009 Jun KATO
3		-
4		-version alpha
5		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6		-
7		-"connector" is a simple wrapper package for connecting Java VM
8		-to external devices through TCP/IP, Serial and Parallel,
9		-Bluetooth Serial Port Profile.
10		-
11		-This library is distributed under MPL 1.1/GPL 2.0/LGPL 2.1
12		-triple license. Please read LICENSE.txt for the detail.
13		-You can get the source code by extracting connector.jar.
14		-
15		-RXTXlib is used for Serial and Parallel connections. It is
16		-developed at http://rxtx.qbang.org/wiki/ and distributed under
17		-LGPL v 2.1 + Linking Over Controlled Interface.
18		-
19		-BlueCove is used for bluetooth connection. It is developed at
20		-http://bluecove.org/ and distributed under Apache License,
21		-Version 2.0.
22		-
23		-- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
24		-http://matereal.sourceforge.jp/
25		-arc (at) digitalmuseum.jp
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--- napkit/trunk/lib/connector/LICENSE.txt (revision 197)

+++ napkit/trunk/lib/connector/LICENSE.txt (nonexistent)

		@@ -1,32 +0,0 @@
1		-connector
2		-Copyright (C) 2009 Jun KATO
3		-
4		-The contents of this file are subject to the Mozilla Public License Version
5		-1.1 (the "License"); you may not use this file except in compliance with
6		-the License. You may obtain a copy of the License at
7		-http://www.mozilla.org/MPL/
8		-
9		-Software distributed under the License is distributed on an "AS IS" basis,
10		-WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License
11		-for the specific language governing rights and limitations under the
12		-License.
13		-
14		-The Original Code is connector.
15		-
16		-The Initial Developer of the Original Code is Jun KATO.
17		-Portions created by the Initial Developer are
18		-Copyright (C) 2009 Jun KATO. All Rights Reserved.
19		-
20		-Contributor(s): Jun KATO
21		-
22		-Alternatively, the contents of this file may be used under the terms of
23		-either of the GNU General Public License Version 2 or later (the "GPL"),
24		-or the GNU Lesser General Public License Version 2.1 or later (the "LGPL"),
25		-in which case the provisions of the GPL or the LGPL are applicable instead
26		-of those above. If you wish to allow use of your version of this file only
27		-under the terms of either the GPL or the LGPL, and not to allow others to
28		-use your version of this file under the terms of the MPL, indicate your
29		-decision by deleting the provisions above and replace them with the notice
30		-and other provisions required by the GPL or the LGPL. If you do not delete
31		-the provisions above, a recipient may use your version of this file under
32		-the terms of any one of the MPL, the GPL or the LGPL.
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--- napkit/trunk/src.sample/BringItHereDual.java (revision 197)

+++ napkit/trunk/src.sample/BringItHereDual.java (nonexistent)

		@@ -1,286 +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.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 BringItHereDual {
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 BringItHereDual();
60		- }
61		-
62		- public BringItHereDual() {
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		-}

Deleted: svn:mime-type

## -1 +0,0 ##

-text/plain

\ No newline at end of property

--- napkit/trunk/src.sample/BringItHere.java (revision 197)

+++ napkit/trunk/src.sample/BringItHere.java (revision 198)

		@@ -18,11 +18,17 @@
18	18	import jp.digitalmuseum.mr.entity.Mini;
19	19	import jp.digitalmuseum.mr.entity.PhysicalBox;
20	20	import jp.digitalmuseum.mr.entity.PhysicalCylinder;
	21	+import jp.digitalmuseum.mr.entity.Robot;
21	22	import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
22	23	import jp.digitalmuseum.mr.gui.ImageProviderPanel;
23	24	import jp.digitalmuseum.mr.gui.utils.EntityPainter;
24	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;
25	29	import jp.digitalmuseum.mr.resource.WheelsController;
	30	+import jp.digitalmuseum.mr.service.CoordProvider;
	31	+import jp.digitalmuseum.mr.service.LocationProvider;
26	32	import jp.digitalmuseum.mr.service.MarkerDetector;
27	33	import jp.digitalmuseum.mr.service.Camera;
28	34	import jp.digitalmuseum.mr.task.Push;

		@@ -31,6 +37,7 @@
31	37	import jp.digitalmuseum.napkit.NapDetectionResult;
32	38	import jp.digitalmuseum.napkit.NapMarker;
33	39	import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
	40	+import jp.digitalmuseum.utils.Location;
34	41	import jp.digitalmuseum.utils.Position;
35	42	import jp.digitalmuseum.utils.ScreenPosition;
36	43

		@@ -40,8 +47,11 @@
40	47	* @author Jun KATO
41	48	*/
42	49	public class BringItHere {
43		- private Camera camera;
44		- private MarkerDetector detector;
	50	+ private final static boolean REAL = false;
	51	+ private Robot robot;
	52	+ private Entity[] entities;
	53	+ private CoordProvider coordProvider;
	54	+ private LocationProvider locationProvider;
45	55	private VectorFieldTask push;
46	56	private ScreenPosition goal = null;
47	57

		@@ -51,44 +61,78 @@
51	61
52	62	public BringItHere() {
53	63
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	+ 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);
64	106	}
65		- camera.setSize(800, 600);
66		- camera.setRealSize(80, 60);
67		- camera.start();
68	107
69		- // Run a marker detector.
70		- detector = new MarkerDetector();
71		- detector.loadCameraParameter("calib_qcam.dat");
72		- detector.start();
	108	+ else {
73	109
74		- // Show a configuration window.
75		- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(
76		- detector));
	110	+ // Run a hakoniwa.
	111	+ Hakoniwa hakoniwa = new Hakoniwa();
	112	+ hakoniwa.start();
	113	+ coordProvider = hakoniwa;
	114	+ locationProvider = hakoniwa;
77	115
78		- // Instantiate a robot.
79		- final Mini robot = new Mini("Mini", "btspp://000666015818");
	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	+ }
80	130
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	131	// Show detection results in real-time.
88		- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
	132	+ final ImageProviderPanel panel = new ImageProviderPanel(coordProvider) {
89	133	private static final long serialVersionUID = 1L;
90	134	private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
91		- 5);
	135	+ REAL ? 0.5 : 20);
92	136	private transient final EntityPainter entityPainter = new EntityPainter(
93	137	0.5);
94	138	private transient final Stroke stroke = new BasicStroke(5);

		@@ -109,9 +153,7 @@
109	153	g2.setComposite(alphaComp);
110	154	g.setColor(Color.blue);
111	155	vectorFieldPainter.paint(push, g2);
112		- g2.setComposite(alphaComp2);
113		- g2.setColor(Color.black);
114		- g2.fillRect(0, 0, getWidth(), 35);
	156	+ g2.setComposite(comp);
115	157
116	158	// Draw entities.
117	159	g.setColor(Color.green);

		@@ -120,36 +162,45 @@
120	162	}
121	163	entityPainter.paint(g2, robot);
122	164
123		- // Get detected results.
124		- final Set<NapDetectionResult> results = detector.getResults();
	165	+ int detected;
	166	+ if (REAL) {
	167	+ // Get detected results.
	168	+ final Set<NapDetectionResult> results = detector
	169	+ .getResults();
	170	+ detected = results.size();
125	171
126		- // Draw each detected result.
127		- for (final NapDetectionResult result : results) {
	172	+ // Draw each detected result.
	173	+ for (final NapDetectionResult result : results) {
128	174
129		- // Draw corners
130		- g.setColor(Color.orange);
131		- detector.paint(g2, result);
	175	+ // Draw corners
	176	+ g.setColor(Color.orange);
	177	+ detector.paint(g2, result);
132	178
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);
	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	+ }
143	191	}
144	192
145	193	// Draw status.
	194	+ g2.setComposite(alphaComp2);
	195	+ g2.setColor(Color.black);
	196	+ g2.fillRect(0, 0, coordProvider.getWidth(), 35);
146	197	g2.setComposite(comp);
147		- g.drawLine(0, 35, getWidth(), 35);
	198	+ g.drawLine(0, 35, coordProvider.getWidth(), 35);
148	199	g.setColor(Color.white);
149	200	if (goal == null) {
150	201	g.drawString("Click to set the destination.", 10, 30);
151	202	} else {
152		- if (push != null) {
	203	+ if (push != null && !push.isFinished()) {
153	204	g.drawString("Status: " + push, 10, 30);
154	205	} else {
155	206	g.drawString("Status: Stopped", 10, 30);

		@@ -164,11 +215,12 @@
164	215	g2.setStroke(s);
165	216	}
166	217
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);
	218	+ if (REAL) {
	219	+ // Draw detected number of squares.
	220	+ g.setColor(Color.cyan);
	221	+ g2.drawString("detected: " + detected,
	222	+ 10, getHeight() - 10);
	223	+ }
172	224	}
173	225	};
174	226

		@@ -192,7 +244,7 @@
192	244	// Push the clicked object to the goal.
193	245	final Entity entity = getClickedEntity(x, y);
194	246	if (entity != null && entity != robot) {
195		- push = new Push(entity, camera.screenToReal(goal));
	247	+ push = new Push(entity, coordProvider.screenToReal(goal));
196	248	if (push.assign(robot))
197	249	push.start();
198	250	}

		@@ -205,12 +257,14 @@
205	257
206	258	@Override
207	259	public void dispose() {
208		- configFrame.dispose();
	260	+ if (REAL) {
	261	+ configFrame.dispose();
	262	+ }
209	263	super.dispose();
210	264	Matereal.getInstance().dispose();
211	265	}
212	266	};
213		- frame.setFrameSize(camera.getWidth(), camera.getHeight());
	267	+ frame.setFrameSize(coordProvider.getWidth(), coordProvider.getHeight());
214	268	}
215	269
216	270	/**

		@@ -221,9 +275,9 @@
221	275	* @return Clicked entity
222	276	*/
223	277	private Entity getClickedEntity(int x, int y) {
224		- Position p = camera.screenToReal(new ScreenPosition(x, y));
	278	+ Position p = coordProvider.screenToReal(new ScreenPosition(x, y));
225	279	for (Entity e : Matereal.getInstance().getEntities()) {
226		- if (detector.contains(e, p)) {
	280	+ if (locationProvider.contains(e, p)) {
227	281	return e;
228	282	}
229	283	}

--- napkit/trunk/src.sample/BringItHereReal.java (nonexistent)

+++ napkit/trunk/src.sample/BringItHereReal.java (revision 198)

		@@ -0,0 +1,232 @@
	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	+}

Added: svn:mime-type

## -0,0 +1 ##

+text/plain

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--- napkit/trunk/src.sample/DetectMarker.java (nonexistent)

+++ napkit/trunk/src.sample/DetectMarker.java (revision 198)

		@@ -0,0 +1,127 @@
	1	+
	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 DetectMarker {
	32	+
	33	+ public static void main(String[] args) {
	34	+ new DetectMarker();
	35	+ }
	36	+
	37	+ public DetectMarker() {
	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	+}

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