jtrackergui.txt

该代码仿真了雷达信号图像中目标的跟踪算法,采用了java编写的

/****************************************************************/
/*                      JTrackerGUI	                            */
/*                                                              */
/****************************************************************/
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
import java.util.Random;
import java.lang.Math;
import javax.swing.BorderFactory;
import javax.swing.border.Border;
import javax.swing.border.EtchedBorder;
import java.util.StringTokenizer;

/**
 * JTracker Applet
 *
 * Created by:
 * Nicholas Rancourt, Timothy Lindblom, Ly Luu, and Daniel Peterson
 *
 * Advisor: Professor Antonia Papandreou-Suppappola
 *
 * Co-advisors: Amit Chhetri
 *
 *------------------------------------------------------------------
 * This program simulates target tracking using a particle filter.
 *------------------------------------------------------------------
 */
public class JTrackerGUI extends JApplet implements Runnable
{
	// Variables declaration
	public JPanel contentPane;
	//-----
	public JLabel Seperator;
	public JTextField Yvel;
	public JTextField Xin;
	public JTextField Yin;
	public JTextField Xvel;
	public JTextField Xsensor;
	public JTextField Ysensor;
	public JTextField MCIter;
//	private JPanel lp;
	public JButton startButton;
	public JLabel jtracklabel;
	public JLabel paralabel;
	public JLabel ylabel;
	public JLabel xlabel;
	public JLabel xlabel22;
	public JLabel xlabel2;
	public JLabel pathLabel;
	public JLabel measLabel;
	public JTextField Qin;
	public JLabel legendlabel;
	public JLabel legend;
	public JTextArea helpinfo;



	public StringTokenizer tokenizer;
	public String token;
	public boolean success;
	public Object dialogInput;
	public double xact, yact, ract, rdotact, angleact, xin, yin, rin, rdotin, anglein;


		//-----
//	private JPanel rp;
		//-----
	private EPanel pathErrorPanel;
		//-----
	private EPanel measErrorPanel;
	//-----

	public int frame, delay, appletWidth = 600, appletHeight = 400, length=50, numParts=2000, niter=5, MC, deltaT;
	public Thread animator;
	public double[][] path, xhat, error;
	public double[] xmeas;
	public double[][] noise={{0.45,0.3617,0.9323},{1.4468,0.7572,1.1944},{2.7969,1.0852,1.35},{4.4138,1.3606,1.4659}};
	public Random generator;
	public double xmax, ymax, xmin, ymin, xvelocity, yvelocity, xinit, yinit, Qval, wtotal, xsensor, ysensor, fps;
	private double phiStdvRad = Math.PI/180, rStdv = 10, rDotStdv = 10;
	private double phiVar, rVar, rdotVar;
	public Image jet, radar;
	public LeftPanel lp;
	public RightPanel rp;
	public CheckPanel cp;
	public boolean run, animating, ploterror, paused;
	private particleList parts, resampled;
	private MediaTracker mediaTracker;
	private JSeparator divLine0;

	public double sensorXmeter, sensorYmeter, jetXmeter, jetYmeter;
    public int sensorX, sensorY, sensorWidth, sensorHeight, jetX, jetY, jetWidth, jetHeight;


	public void init()
	{

// Compute sensor variances from the standard deviations defined above.
		phiVar = Math.pow(phiStdvRad,2);
		rVar = Math.pow(rStdv,2);
		rdotVar = Math.pow(rDotStdv,2);

		// The Boolean run is used to determine if the algorithm has been run
		// since the applet was started.  This is used for intial display
		// purposes.
		run=false;
		ploterror=false;
		animating = false;

		// lp, a LeftPanel (defined below) contains the inputs.
		lp = new LeftPanel();
		cp = new CheckPanel();

		// Load the images of the jet and radar
		jet=getImage(getCodeBase(), "jet2.gif");
		radar=getImage(getCodeBase(), "radar.gif");

		// MediaTracker is used to wait until the images are loaded before continuing.
		MediaTracker mediaTracker = new MediaTracker(this);
		mediaTracker.addImage(jet, 0);
		mediaTracker.addImage(radar, 1);
		try
		{
			mediaTracker.waitForID(0);
			mediaTracker.waitForID(1);
		}
		catch (InterruptedException ie)
		{
			System.err.println(ie);
			System.exit(1);
		}


		// rp, a RightPanel (defined below) contains the graph showing the target track.
		rp = new RightPanel();

		// Create Layout with lp on left and rp on right.
	//	getContentPane().add(new JSplitPane(JSplitPane.HORIZONTAL_SPLIT, lp, rp));
		setSize(appletWidth, appletHeight);

		// The frame variable keeps track of the time step currently executing.
		frame = 0;



		// Used by the thread.
		delay = (fps > 0) ? (int)(1000 / fps) : 100;



		// Initialize the particleLists for the particles before and after resampling.
		parts=new particleList(numParts);
		resampled=new particleList(numParts);

		// Create a random number generator to add random noise.
		generator = new Random();

		// Display the images and axes
		rp.repaint();

		contentPane = (JPanel)this.getContentPane();
		//-----
		Seperator = new JLabel();
		Yvel = new JTextField();
		Xin = new JTextField();
		Yin = new JTextField();
		Xvel = new JTextField();
		Xsensor = new JTextField();
		Ysensor = new JTextField();
		MCIter = new JTextField();
		Qin = new JTextField();
	//	lp = new JPanel();
		//-----
		jtracklabel = new JLabel();
		paralabel = new JLabel();
		ylabel = new JLabel();
		xlabel = new JLabel();
		xlabel22 = new JLabel("Time step");
		xlabel2 = new JLabel("Time step");
		pathLabel = new JLabel("Estimation error in meters");
		measLabel = new JLabel("Measurement error in meters");
		legendlabel = new JLabel();
		legend = new JLabel();
		helpinfo = new JTextArea();


		contentPane = (JPanel)this.getContentPane();
		//-----
	//	rp = new JPanel();
		//-----
		pathErrorPanel = new EPanel();
//		pathErrorPanel.setToolTipText( "Distance between the actual position of the target and the estimated \n position in meters.  Averaged after each MC iteration.");
		pathErrorPanel.addMouseListener(new pathmouse());
		//-----
		measErrorPanel = new EPanel();
//		measErrorPanel.setToolTipText( "Distance between the actual position of the target and the measurement of the position in meters.  Averaged after each MC iteration.");
		measErrorPanel.addMouseListener(new measmouse());
		//-----
		startButton = new JButton();
		//
		// jtracklabel
		//
		Icon jtrack = new ImageIcon( getClass().getResource("Jtracker.JPG"));
		jtracklabel.setIcon(jtrack);
		//
		// paralabel
		//
		Icon para = new ImageIcon( getClass().getResource("parameters2.JPG"));
		paralabel.setIcon(para);
		//
		// ylabel
		//
		Icon ybar = new ImageIcon( getClass().getResource("ybar.JPG"));
		ylabel.setIcon(ybar);
		//
		// xlabel
		//
		Icon xbar = new ImageIcon( getClass().getResource("xbar.JPG"));
		xlabel.setIcon(xbar);
		//
		// xlabel22
		//
		//Icon xbar22 = new ImageIcon( getClass().getResource("xbar2.JPG"));
		//xlabel22.setIcon(xbar22);
		//
		// xlabel2
		//
		//Icon xbar2 = new ImageIcon( getClass().getResource("xbar2.JPG"));
		//xlabel2.setIcon(xbar2);

		Icon legend12 = new ImageIcon( getClass().getResource("legend12.JPG"));
		legendlabel.setIcon(legend12);

		Icon legend13 = new ImageIcon( getClass().getResource("legend13.JPG"));
		legend.setIcon(legend13);
		divLine0 = new JSeparator();

		helpinfo.setBackground(new Color(227, 228, 230));
		helpinfo.setForeground(new Color(1, 1, 1));
		helpinfo.setOpaque(true);


// contentPane
		//
		contentPane.setLayout(null);
		contentPane.setBackground(new Color(203, 221, 200));
		addComponent(contentPane, jtracklabel, -2,-1,233,104);
		addComponent(contentPane, paralabel, -5,101,123,332);
		addComponent(contentPane, ylabel, 250,-1,40,321);
		//addComponent(contentPane, xlabel, 245,317,455,8);
		addComponent(contentPane, rp, 290,0,500,320);
		addComponent(contentPane, pathLabel, 520,325,160,14);
		addComponent(contentPane, pathErrorPanel, 400,340,390,60);
		addComponent(contentPane, xlabel2, 560,400,80,14);
		addComponent(contentPane, divLine0, 400, 414, 390, 3);
		addComponent(contentPane, measLabel, 520,415,170,14);
		addComponent(contentPane, measErrorPanel, 400,430,390,60);
		addComponent(contentPane, xlabel22, 560,490,80,14);
		addComponent(contentPane, helpinfo, 250,513,540,45);
		addComponent(contentPane, legendlabel, 0,434,170,120);
		addComponent(contentPane, legend, 100,510,180,50);
		addComponent(contentPane, cp, 235, 325, 160, 185);

		//
		// rp
		//
		rp.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5));
		rp.setBackground(new Color(6, 226, 252));
		//
		// pathErrorPanel
		//
		pathErrorPanel.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5));
		pathErrorPanel.setBackground(new Color(6, 226, 252));
		//
		// measErrorPanel
		//
		measErrorPanel.setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5));

		//
		// contentPane
		//
		contentPane.setLayout(null);
		contentPane.setBackground(new Color(203, 221, 200));
		addComponent(contentPane, lp, 119,101,110,414);
		//

		this.setLocation(new Point(3, -6));
		this.setSize(new Dimension(800, 560));
	}  /////////end of inti class
// This method is called when the "Start" button is pressed.  It starts the thread that
	// enables the animation.
	public void startThread()
	{
		animator=new Thread(this);
		animator.start();
		animating=true;
		run = true;
	}
	private class pathmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setLineWrap(true);
				helpinfo.setText("Distance between the actual position of the target and the estimated position in meters.  Averaged after each MC iteration.");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class measmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setLineWrap(true);
				helpinfo.setText("Distance between the actual position of the target and the measurement of the position in meters.  Averaged after each MC iteration.");
			}
			public void mouseExited(MouseEvent e) {}

	}

//This method is called by the thread that was created in
	//the startThread method. It does the main animation.
	public void run()
	{
		// Remember the starting time
		long tm = System.currentTimeMillis();
		while (Thread.currentThread() == animator)
		{
		    // Delay depending on how far we are behind.
			try
			{
				tm += delay;
				Thread.sleep(Math.max(0, tm - System.currentTimeMillis()));
			}
			catch (InterruptedException e)
			{
				break;
			}

			// Advance the frame number and display the frame.
			if (frame<length-1)
			{
				frame++;
				rp.repaint();
			}
			// If the last frame is reached, stop animation.
			else
			{
				MC=MC-1;


				for (int count=0; count<length; count++)
				{
					double newError =Math.sqrt(Math.pow((path[0][count]-xhat[0][count]),2)+Math.pow((path[1][count]-xhat[1][count]),2));
					pathErrorPanel.error[count]=(newError+(niter-MC-1)*pathErrorPanel.error[count])/(niter-MC);
				}
				ploterror=true;
				pathErrorPanel.repaint();
				measErrorPanel.repaint();


				if (MC==0)
				{
					animator = null;
					animating = false;
					jetXmeter = path[0][length-1];
					jetYmeter = path[1][length-1];
				}

				else
				{
					frame=0;
					animator = null;
					animating = false;

					if(cp.pauseBox.isSelected())
						paused = true;

					else
					{
						xhat[0][0]=0;
						xhat[1][0]=0;
						xhat[2][0]=0;
						xhat[3][0]=0;

						for (int i=0; i<numParts; i++)
						{
							parts.xPosition[i]=jetXmeter+100*generator.nextGaussian();
							parts.yPosition[i]=jetYmeter+100*generator.nextGaussian();
							parts.xVelocity[i]=xvelocity+7.07107*generator.nextGaussian();
							parts.yVelocity[i]=yvelocity+7.07107*generator.nextGaussian();
							xhat[0][0]=xhat[0][0]+parts.xPosition[i];
							xhat[1][0]=xhat[1][0]+parts.yPosition[i];
							xhat[2][0]=xhat[2][0]+parts.xVelocity[i];
							xhat[3][0]=xhat[3][0]+parts.yVelocity[i];
						}
						xhat[0][0]=xhat[0][0]/numParts;
						xhat[1][0]=xhat[1][0]/numParts;
						xhat[2][0]=xhat[2][0]/numParts;
						xhat[3][0]=xhat[3][0]/numParts;

						startThread();
						animating = true;
					}
				}

			}
		}
	}

// This method is called when the applet is no longer
	// visible. Set the animator variable to null so that the
	// thread will exit before displaying the next frame.
	public void stop()
	{
		animator = null;
		animating = false;
	}


	/*
	 * The RightPanel class contains the graphics component that plots the paths and particles.
	 * It also contains methods to allow dragging of the jet and radar images.
	 */
	private class RightPanel extends JPanel implements MouseListener, MouseMotionListener
	{
		private int x1, y1, x2, y2, x3, y3, xhat1, xhat2, yhat1, yhat2; // various pixel coordinates

     	private boolean dragging;		// This is true when dragging is in progress.
     	private boolean draggingjet;	// This is true when dragging the jet.
 	    private int offsetx, offsety;	// The distance from the upper left corner of the
                                     	//   Sensor to the point where the user clicked
                                     	//   the rect.  This offset is maintained as the
                                     	//   rect is dragged.
        /* Constructor */
		public RightPanel()
		{
			//setBackground(Color.white);

			// Add a MouseListener to read mouse events (clicking and dragging) in the
			// graphics component.
			addMouseListener(this);
			addMouseMotionListener(this);

			// Sensor position is initially set at (0,0).
			sensorXmeter=0;
			sensorYmeter=0;
			sensorWidth=16;
			sensorHeight=16;

			// Jet (target) position is initially set at (500,500) meters.
			jetXmeter = 500;
			jetYmeter = 500;
			jetWidth = 63;
			jetHeight = 28;

			// The window is initially set to display from (0,0) to (1000,1000) meters.
			// These variables determine the range of the display, and are automatically
			// changed to keep the target path and the sensor on the display.
			xmin = 0;
			ymin = 0;
			xmax = 1000;
			ymax = 1000;

		}