Reading and drawing to two windows using PApplet with camera

Core Library Questions

xenophage

Reading and drawing to two windows using PApplet with camera

in Core Library Questions • 1 year ago

Hi everyone! I'm working on a robot project, and I'm having trouble with the processing code running on the computer on the robot. It communicates with the micro-controller through com4, a gps on com5, and with a client program running on my laptop through a VPN port. I'm trying to add a window that reads the camera and does some basic red color object detection. The code in the PApplet was originally a separate program, and was working fine, I am trying to migrate it into the main program running on the robot. Run it and see where it error's out. It seems it's confused about which window to read pixels from. You only need a USB (or built in) camera hooked up to run this (and work eventually hopefully). Can someone explain how to choose which window to read the pixel from? Also, I intend on adding a 3rd window displaying a grey scale of ratings of where the robot plans to move, and a 4th window which will be the main control window (pulling the text info out of the sonar window). If it helps I can post the working object detection code separately. Much appreciated!

import processing.serial.*; //serial port read library
import processing.net.*;
UIWindow uiWindow;
Server myServer;
int serverport = 1234;//port used to communicate with clients over Hamachi
Serial com5;
Serial com4;
String dataincom4, dataoutcom4, dataincom5;
Float Latitude1 = 0.0, Latitude2 = 0.0;
String Latitude;
String NorSindicator;
Float Longitude1 = 0.0, Longitude2 = 0.0;
String Longitude;
String EorWindicator;
String Satellites;
String Altitude;
String gpsdata, gpsdata2;
Float Speed1 = 0.0, Heading1 = 0.0;
String Speed, Heading, Lock;
int Lock1 = 0, Satellites1 = 0;
Float firstLat = 0.0, firstLon = 0.0;
int px = 0, py = 0;
int[] keys = new int[256];
String dataCode1, dataCode2;
Float indata;
Float ardposx, ardposy, ardheading, ardcompass, ardheaddraw, ardheaddraw2;
int sonarinchL1, sonarinchR1, sonarinchL2, sonarinchR2;
Float sx, sy, sxp, syp;
int mpltimer;
float beamwidth = 0.08;
import processing.video.*;
Capture myCapture;
void setup(){
frame.setTitle("Sonar Map");
myServer = new Server(this, serverport);
size(800,600); //window size
//frameRate(10);
PFont myFont = createFont(PFont.list()[2],16); // font type
textFont(myFont);
background(255, 255, 255);
stroke(0,0,0);
//smooth();
println(Serial.list()); // displays port numbers for program
com5 = new Serial(this, "COM5", 9600); // serial read setup
com5.bufferUntil('\r'); // library buffer
com4 = new Serial(this, "COM4", 9600); // serial read setup
com4.bufferUntil(10); // library buffer
ardheaddraw = 0.0;
ardheaddraw2 = 0.0;
ardposx = 0.0; ardposy = 0.0;
com4.write("<0.0I0>");//request x and y position
mpltimer = millis();
uiWindow = new UIWindow();
}
void draw(){
fill(255, 255, 255);
rect(0, 0, 200, 600);//clear left text area for new text
fill(0, 0, 0);
stroke(0,0,0);
//window display
textAlign(LEFT);
text(" Latitude: " + Latitude, 10, 10);
text(" Longitude: " + Longitude, 10,30);
text(" Position: " + NorSindicator + " " + EorWindicator, 10,50);
text(" Positive Lock: " + Lock, 10,70);
text(" Satellites Used: " + Satellites, 10,90);
text(" Altitude: " + Altitude + " Meters", 10,110);
text(" Speed: " + Speed, 10, 130);
text(" Heading: " + Heading1, 10, 150);
text(" Data from Arduino", 10, 310);
text(" PosX: " + ardposx, 10, 330);
text(" PosY: " + ardposy, 10, 350);
text(" Sonar L2: " + sonarinchL2, 10, 370);
text(" Sonar L1: " + sonarinchL1, 10, 390);
text(" Sonar R1: " + sonarinchR1, 10, 410);
text(" Sonar R2: " + sonarinchR2, 10, 430);
text(" Heading: " + ardheading, 10, 450);
text(" Compass: " + ardcompass, 10, 470);
line(160, 430, 160, 430 - sonarinchL2);
line(170, 430, 170, 430 - sonarinchL1);
line(180, 430, 180, 430 - sonarinchR1);
line(190, 430, 190, 430 - sonarinchR2);
fill(255,255,255);
ellipse(180, 450, 30, 30);
fill(0,0,0);
//arc(180, 450, 30, 30, ardheaddraw2 + 0.5, ardheaddraw2 - 0.5);
line(180, 450, cos(ardheaddraw2) * 15 + 180, sin(ardheaddraw2) * 15 + 450);
//text(" GPS unparsed: " + gpsdata, 20,170);
//text(" GPS unparsed: " + gpsdata2, 20,190);
// draw points where sonars detect objects
//fill(255, 0, 0);
//point((ardposx + 500)
if (mousePressed && mouseButton == LEFT){
point(mouseX, mouseY);
}
if (firstLat == 0.0 && firstLon == 0.0){
if (Latitude1 != 0.0 && Longitude1 != 0.0){
if (Satellites1 >= 3 && Lock1 >= 1){
firstLat = Latitude1 * 1000000.0;
firstLon = Longitude1 * 1000000.0;
}
}
}
if (firstLat != 0.0 && firstLon != 0.0){
py = int((firstLat - (Latitude1 * 1000000.0)) + (width / 2.0));
px = int((firstLon - (Longitude1 * 1000000.0)) + (width / 2.0));
//ellipse(px, py, 2, 2);
}
//Get the next available client
Client thisClient = myServer.available();
//If the client is not null, and says something, display what it said
try {
if (thisClient != null) {
String clientindata = thisClient.readStringUntil('\n');
if (clientindata != null) {
com4.write(trim(clientindata));//forward client data to Arduino
println(thisClient.ip() + " : " + clientindata);
}
}
}catch(Exception e) {
println("Client port error");
//decide what to do here for the error
}
print("MPL:"); println(millis() - mpltimer);
mpltimer = millis();
}
//camera object detection applet
public class UIWindow extends PApplet {
Frame frame;
int width = 320;
int height = 240;
//camera object detect applet init
import processing.video.*;
Capture myCapture;
PImage img;
int w = 80, pixdetect = 0;
int objx1, objx2, objy1, objy2;
UIWindow ()
{
width = 320;
height = 240;
frame = new Frame();
frame.setBounds(0, 0, width, height);
frame.add(this);
this.init();
frame.show();
frameRate(30);
}
void setup() {
size(320, 240);
frameRate(30);
myCapture = new Capture(this, 320, 240, 1);
myCapture.frameRate(30);
frame.setTitle("Camera object detect");
}
void draw() {
int[][] obj = new int[320][240];
if(myCapture.available()) {
myCapture.read();
image(myCapture, 0, 0);
img = myCapture;
}
objx1 = 160; objx2 = 160; objy1 = 120; objy2 = 120;
loadPixels();
// Begin loop for every pixel
for (int x = 1; x < width; x++) {
for (int y = 1; y < height; y++ ) {
color c = detection(x,y,img);
int loc = x + y*320;
pixels[loc] = c;
obj[x][y] = pixdetect;
}
}
updatePixels();
//Begin search for objects
for (int x = 2; x < 320 - 1; x++) {
for (int y = 2; y < 240 - 1; y++ ) {
if (obj[x][y] == 1 && obj[x+1][y] == 1 && obj[x-1][y] == 1 && obj[x][y+1] == 1 && obj[x][y-1] == 1) {
if (x > objx1 && objx1 == int(width/2)) objx1 = x;
if (x < objx2 && objx2 == int(width/2)) objx2 = x;
if (x > objy1 && objy1 == int(height/2)) objy1 = y;
if (x > objy2 && objy2 == int(height/2)) objy2 = y;
if (x < objx1) objx1 = x;
if (x > objx2) objx2 = x;
if (y < objy1) objy1 = y;
if (y > objy2) objy2 = y;
}
}
}
stroke(255,0,0);
rect(objx1, objy1, objx2 - objx1, objy2 - objy1);
stroke(0);
noFill();
//rect(xstart,ystart,w,w);
}
color detection(int x, int y, PImage img) {
// What pixel are we testing
int loc = x + 320*y;
// Make sure we have not walked off the edge of the pixel array
loc = constrain(loc,1,76799);
float r = red(pixels[loc]);
float g = green(pixels[loc]);
float b = blue(pixels[loc]);
float br = brightness(pixels[loc]);
float sa = saturation(pixels[loc]);
if (br + sa > 255.0 && r > 70.0 && r > g + 40.0 && r > b + 40.0 && g - b < 30.0 && g - b > -30.0) {
r = 255.0; g = 0.0; b = 0.0;
pixdetect = 1;
}else {
pixdetect = 0;
//r = 0.0; g = 0.0; b = 0.0;
}
// Return the resulting color
return color(r,g,b);
}
}
//end camera object detect applet
// function reads the gps or Arduino data and sends it to the parsing function
void serialEvent(Serial thisPort) {
try {
if (thisPort == com5){
String dataincom5 = com5.readStringUntil('\n');
if (dataincom5 != null) {
//println("com5:");
//println(dataincom5);
myServer.write(trim(dataincom5) + ", com5\n");//forward data to client
parseStringcom5(dataincom5);
}
}
if (thisPort == com4){
String dataincom4 = com4.readStringUntil('\n');
if (dataincom4 != null) {
//println("com4:");
//println(dataincom4);
myServer.write(trim(dataincom4) + ", com4\n");//forward data to client
parseStringcom4(dataincom4);
}
}
}catch(Exception e) {
println("Com port error");
//decide what to do here for the error
}
}
//parse com4 Arduino
void parseStringcom4 (String serialString) {
String[] list = split(serialString, ',');
indata = float(list[0]);
dataCode1 = list[1];
dataCode2 = list[2];
//println(indata);
//println(dataCode1);
//println(dataCode2);
if (dataCode1.equals("L") && dataCode2.contains("1")){
sonarinchL1 = int(indata);
sx = (500 + ardposx) + (cos(ardheaddraw + 0.5) * 15.0);
sy = (300 - ardposy) - (sin(ardheaddraw + 0.5) * 15.0);
sxp = sx + (cos(ardheaddraw) * sonarinchL1);
syp = sy - (sin(ardheaddraw) * sonarinchL1);
stroke(200,255,255,63); fill(200,255,255,63);
line(sx, sy, sxp, syp);
stroke(200,0,0,63);
if (sonarinchL1 > 240) stroke(200,255,255,63);
arc(sx, sy, sonarinchL1 * 2.0, sonarinchL1 * 2.0, (ardheaddraw2 - beamwidth), (ardheaddraw2 + beamwidth));
}
if (dataCode1.equals("L") && dataCode2.contains("2")){
sonarinchL2 = int(indata);
sx = (500 + ardposx) + (cos(ardheaddraw + 0.6) * 8.0);
sy = (300 - ardposy) - (sin(ardheaddraw + 0.6) * 8.0);
sxp = sx + (cos(ardheaddraw + QUARTER_PI) * sonarinchL2);
syp = sy - (sin(ardheaddraw + QUARTER_PI) * sonarinchL2);
stroke(200,255,255,63); fill(200,255,255,63);
line(sx, sy, sxp, syp);
stroke(200,0,0,63);
if (sonarinchL2 > 240) stroke(200,255,255,63);
arc(sx, sy, sonarinchL2 * 2.0, sonarinchL2 * 2.0, ((ardheaddraw2 - QUARTER_PI) - beamwidth), ((ardheaddraw2 - QUARTER_PI) + beamwidth));
}
if (dataCode1.equals("R") && dataCode2.contains("1")){
sonarinchR1 = int(indata);
sx = (500 + ardposx) + (cos(ardheaddraw - 0.5) * 15.0);
sy = (300 - ardposy) - (sin(ardheaddraw - 0.5) * 15.0);
sxp = sx + (cos(ardheaddraw) * sonarinchR1);
syp = sy - (sin(ardheaddraw) * sonarinchR1);
stroke(200,255,255,63); fill(200,255,255,63);
line(sx, sy, sxp, syp);
stroke(200,0,0,63);
if (sonarinchR1 > 240) stroke(200,255,255,63);
arc(sx, sy, sonarinchR1 * 2.0, sonarinchR1 * 2.0, (ardheaddraw2 - beamwidth), (ardheaddraw2 + beamwidth));
}
if (dataCode1.equals("R") && dataCode2.contains("2")){
sonarinchR2 = int(indata);
sx = (500 + ardposx) + (cos(ardheaddraw - 0.6) * 8.0);
sy = (300 - ardposy) - (sin(ardheaddraw - 0.6) * 8.0);
sxp = sx + (cos(ardheaddraw - QUARTER_PI) * sonarinchR2);
syp = sy - (sin(ardheaddraw - QUARTER_PI) * sonarinchR2);
stroke(200,255,255,63); fill(200,255,255,63);
line(sx, sy, sxp, syp);
stroke(200,0,0,63);
if (sonarinchR2 > 240) stroke(200,255,255,63);
arc(sx, sy, sonarinchR2 * 2.0, sonarinchR2 * 2.0, ((ardheaddraw2 + QUARTER_PI) - beamwidth), ((ardheaddraw2 + QUARTER_PI) + beamwidth));
}
stroke(200,0,0,127);
point(sxp,syp);
if (dataCode1.equals("P") && dataCode2.contains("X")){
ardposx = indata;
}
if (dataCode1.equals("P") && dataCode2.contains("Y")){
ardposy = indata;
stroke(200,255,255, 63); fill(200,255,255, 63);
ellipse(ardposx + 500, -ardposy + 300, 20, 20);
stroke(0,0,0);
point(ardposx + 500, -ardposy + 300);
}
if (dataCode1.equals("H") && dataCode2.contains("0")){
ardheading = indata;
ardheaddraw = indata + HALF_PI;
ardheaddraw2 = (-indata) - HALF_PI;
}
if (dataCode1.equals("H") && dataCode2.contains("1")){
ardcompass = indata;
}
stroke(0,0,0);
fill(0,0,0);
}
//parse com5 GPS
void parseStringcom5 (String serialString) {
//sets up an array and splits the gps info by comma
String items[] = split(serialString,',');
if(items[0].equals("$GPGGA")) { //looks for the GPGGA info
getGGA(items);
}
if(items[0].equals("$GPRMC")) { //looks for the GPRMC info
getRMC(items);
}
//Convert data for Arduino
Heading1 = int(-Heading1 * (PI / 180.0) * 1000.0) / 1000.0;//0-360 to 0 - -2PI
if (Heading1 < -PI) Heading1 = Heading1 + TWO_PI;//0-2PI to -PI - PI
//begin transmitting data to Arduino
com4.write("<" + Satellites1 + "S0>");
com4.write("<" + Heading1 + "H0>");
//end transmission
}
//this function assigns the variables
//to array elements that have been parsed
void getGGA(String[] gpsinfo){
//if (gpsinfo[1].equals("A")){
Latitude1 = float(gpsinfo[2])/100.0;//DD.MM.MMMM
Latitude2 = Latitude1 - int(Latitude1);//00.MMMMMM
Latitude2 = (Latitude2 * 100.0) / 60.0;//00.DDDD
Latitude1 = int(Latitude1) + Latitude2;//DD.DDDD
Latitude = nfs(Latitude1, 3,7);
NorSindicator = gpsinfo[3];
Longitude1 = float( gpsinfo[4])/100.0;//DDD.MM.MMMM
Longitude2 = Longitude1 - int(Longitude1);//00.MMMMMM
Longitude2 = (Longitude2 * 100.0) / 60.0;//00.DDDD
Longitude1 = int(Longitude1) + Longitude2;//DD.DDDD
Longitude = nfs(Longitude1, 3,7);
EorWindicator = gpsinfo[5];
Lock1 = int(gpsinfo[6]);
Lock = nfs(Lock1, 1, 0);
Satellites1 = int(gpsinfo[7]);
Satellites = nfs(Satellites1, 2, 0);
Altitude = gpsinfo[9];
gpsdata = join(gpsinfo,",");
}
void getRMC(String[] gpsinfo){
//if (gpsinfo[1].equals("A")){
Speed1 = float(gpsinfo[7]);
Speed = nfs(Speed1, 3,2);
Heading1 = float( gpsinfo[8]);
Heading = nfs(Heading1, 3,2);
gpsdata2 = join(gpsinfo,",");
}
//check for keys being pressed, and send them to arduino
void keyPressed() {
if (keys[keyCode] == 0){
com4.write("<" + keyCode + "K1>");
keys[keyCode] = 1;
}
}
void keyReleased() {
if (keys[keyCode] == 1){
com4.write("<" + keyCode + "K0>");
keys[keyCode] = 0;
}
}

Replies(1)

xenophage

Re: Reading and drawing to two windows using PApplet with camera

1 year ago

So I discovered the program was reading the correct window, but I kept getting out of bounds errors. I eventually traced it back to line 159 where it sets the boundaries of the window, and had to manually enter in a value to include the title bar and surrounding frame. Odd that I didn't have this problem when the object detection was by itself. One step closer to my robot world domination!

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