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## PER
Class Vision

    java.lang.Object
      java.awt.Component
          java.awt.Container
              java.awt.Window
                  java.awt.Frame
                      javax.swing.JFrame
                          PER.Vision

All Implemented Interfaces:
  javax.accessibility.Accessible, java.awt.image.ImageObserver, java.awt.MenuContainer, javax.swing.RootPaneContainer, java.io.Serializable, javax.swing.WindowConstants

public class Vision
extends javax.swing.JFrame

This interface demonstrates the vision capabilities of the robot. Start by connecting to a robot. The code version on the robot should be at least 2.0.1. Motion detection is new in this version and tracking is improved.

Once you have connected, click on the "Take Picture" button. You can change the pan and tilt by using the grid at the bottom of the window. Pictures will be taken at the current pan and tilt. The current pan and tilt is shown by a red 'x'. This position is updated during tracking.

By clicking on the left image, good track color parameters for the object will be put into the text fields below the right image. You can click on the image multiple times to relax the track color parameters. On the right image, you will see which pixels will be tracked using the parameters you selected. Different colors are given to the object you selected and pixels outside of your object falling within the range of the track color parameters. By clicking on the right image, the head will be recentered on the point you clicked on and a new picture will be taken.

When you start tracking, the bounding box is shown and a blue box is shown at the middle mass of the pixels. If more than 2/3 of the pixels in the box are tracked, the box is green. If more than 1/3 are tracked, the box is yellow and if less than one third are tracked, the box is red.

If the "Line Follow" check box is selected while tracking is enabled, the rover is driven so that it will follow the object being tracked. The rover will drive toward the tracked object as long as at least 30 pixels are being tracked and the object is below -5 degrees. Otherwise, the rover will stop. It's a good idea to move the head to about -30 degrees and uncheck the "Track Move Tilt" box so that the rover will look ahead farther.

When you click on the "Show Motion" button, you will see a graphical display of the difference of the current frame from the previous one. When there is no motion, everything is black. Motion is shown in red.

See Also:
  Serialized Form

Nested Class Summary

Nested classes inherited from class javax.swing.JFrame
`javax.swing.JFrame.AccessibleJFrame`

Nested classes inherited from class java.awt.Frame
`java.awt.Frame.AccessibleAWTFrame`

Nested classes inherited from class java.awt.Window
`java.awt.Window.AccessibleAWTWindow`

Nested classes inherited from class java.awt.Container
`java.awt.Container.AccessibleAWTContainer`

Nested classes inherited from class java.awt.Component
`java.awt.Component.AccessibleAWTComponent, java.awt.Component.BltBufferStrategy, java.awt.Component.FlipBufferStrategy`

Field Summary

Fields inherited from class javax.swing.JFrame
`accessibleContext, EXIT_ON_CLOSE, rootPane, rootPaneCheckingEnabled`

Fields inherited from class java.awt.Frame
`CROSSHAIR_CURSOR, DEFAULT_CURSOR, E_RESIZE_CURSOR, HAND_CURSOR, ICONIFIED, MAXIMIZED_BOTH, MAXIMIZED_HORIZ, MAXIMIZED_VERT, MOVE_CURSOR, N_RESIZE_CURSOR, NE_RESIZE_CURSOR, NORMAL, NW_RESIZE_CURSOR, S_RESIZE_CURSOR, SE_RESIZE_CURSOR, SW_RESIZE_CURSOR, TEXT_CURSOR, W_RESIZE_CURSOR, WAIT_CURSOR`

Fields inherited from class java.awt.Component
`BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT`

Fields inherited from interface javax.swing.WindowConstants
`DISPOSE_ON_CLOSE, DO_NOTHING_ON_CLOSE, HIDE_ON_CLOSE`

Fields inherited from interface java.awt.image.ImageObserver
`ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH`

Constructor Summary
`Vision()` Creates new form Vision

Method Summary
`static void` | `main(java.lang.String[] args)`
`void` | `paint(java.awt.Graphics g)`

Methods inherited from class javax.swing.JFrame
`addImpl, createRootPane, frameInit, getAccessibleContext, getContentPane, getDefaultCloseOperation, getGlassPane, getJMenuBar, getLayeredPane, getRootPane, isDefaultLookAndFeelDecorated, isRootPaneCheckingEnabled, paramString, processWindowEvent, remove, setContentPane, setDefaultCloseOperation, setDefaultLookAndFeelDecorated, setGlassPane, setJMenuBar, setLayeredPane, setLayout, setRootPane, setRootPaneCheckingEnabled, update`

Methods inherited from class java.awt.Frame
`addNotify, finalize, getCursorType, getExtendedState, getFrames, getIconImage, getMaximizedBounds, getMenuBar, getState, getTitle, isResizable, isUndecorated, remove, removeNotify, setCursor, setExtendedState, setIconImage, setMaximizedBounds, setMenuBar, setResizable, setState, setTitle, setUndecorated`

Methods inherited from class java.awt.Window
`addPropertyChangeListener, addPropertyChangeListener, addWindowFocusListener, addWindowListener, addWindowStateListener, applyResourceBundle, applyResourceBundle, createBufferStrategy, createBufferStrategy, dispose, getBufferStrategy, getFocusableWindowState, getFocusCycleRootAncestor, getFocusOwner, getFocusTraversalKeys, getGraphicsConfiguration, getInputContext, getListeners, getLocale, getMostRecentFocusOwner, getOwnedWindows, getOwner, getToolkit, getWarningString, getWindowFocusListeners, getWindowListeners, getWindowStateListeners, hide, isActive, isFocusableWindow, isFocusCycleRoot, isFocused, isShowing, pack, postEvent, processEvent, processWindowFocusEvent, processWindowStateEvent, removeWindowFocusListener, removeWindowListener, removeWindowStateListener, setCursor, setFocusableWindowState, setFocusCycleRoot, setLocationRelativeTo, show, toBack, toFront`

Methods inherited from class java.awt.Container
`add, add, add, add, add, addContainerListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getAlignmentX, getAlignmentY, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getContainerListeners, getFocusTraversalPolicy, getInsets, getLayout, getMaximumSize, getMinimumSize, getPreferredSize, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, print, printComponents, processContainerEvent, remove, removeAll, removeContainerListener, setFocusTraversalKeys, setFocusTraversalPolicy, setFont, transferFocusBackward, transferFocusDownCycle, validate, validateTree`

Methods inherited from class java.awt.Component
`action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, contains, createImage, createImage, createVolatileImage, createVolatileImage, disable, disableEvents, dispatchEvent, enable, enable, enableEvents, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBounds, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getFontMetrics, getForeground, getGraphics, getHeight, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocation, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getSize, getTreeLock, getWidth, getX, getY, gotFocus, handleEvent, hasFocus, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isDoubleBuffered, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isOpaque, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, prepareImage, prepareImage, printAll, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processKeyEvent, processMouseEvent, processMouseMotionEvent, processMouseWheelEvent, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, repaint, requestFocus, requestFocus, requestFocusInWindow, requestFocusInWindow, reshape, resize, resize, setBackground, setBounds, setBounds, setComponentOrientation, setDropTarget, setEnabled, setFocusable, setFocusTraversalKeysEnabled, setForeground, setIgnoreRepaint, setLocale, setLocation, setLocation, setName, setSize, setSize, setVisible, show, size, toString, transferFocus, transferFocusUpCycle`

Methods inherited from class java.lang.Object
`clone, equals, getClass, hashCode, notify, notifyAll, wait, wait, wait`

Methods inherited from interface java.awt.MenuContainer
`getFont, postEvent`

Constructor Detail

### Vision

    public Vision()

  Creates new form Vision

Method Detail

### main

    public static void main(java.lang.String[] args)

  Parameters:
    `args` - the command line arguments

### paint

    public void paint(java.awt.Graphics g)

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