jtrackergui.java

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

				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter x position.","Invalid x position",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "y position";

			success = false;
			while(!success)
			{
				try
				{
					yin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter y position.","Invalid y position",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}


			tokenizer = new StringTokenizer(lp.Yin.getText(),"(), ", false);

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "range error";

			success = false;
			while(!success)
			{
				try
				{
					rin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Reenter range error.","Invalid range error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "range rate error";

			success = false;
			while(!success)
			{
				try
				{
					rdotin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter range rate error.","Invalid range rate error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "angle error";

			success = false;
			while(!success)
			{
				try
				{
					anglein=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter angular error.","Invalid angular error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			jetXmeter=xin;
			jetYmeter=yin;
			rStdv=rin;
			rDotStdv=rdotin;
			phiStdvRad=anglein*Math.PI/180;
			lp.Xin.setText(Double.toString(xin)+", "+Double.toString(yin));
			lp.Yin.setText(Double.toString(rin)+", "+Double.toString(rdotin)+", "+Double.toString(anglein));



			// Initialize arrays for the real and estimated paths and the sensor measurements.
			path=new double[4][length];
			xhat=new double[4][length];
			xmeas=new double[length];

			// Used by the thread.
			delay = (fps > 0) ? (int)(1000 / fps) : 100;
			path[0][0]=jetXmeter;
			path[1][0]=jetYmeter;
			path[2][0]=xvelocity;
			path[3][0]=yvelocity;
			xhat[0][0]=0;
			xhat[1][0]=0;
			xhat[2][0]=0;
			xhat[3][0]=0;

			xmax=jetXmeter;
			xmin=jetXmeter;
			ymax=jetYmeter;
			ymin=jetYmeter;
			parts = new particleList(numParts);
			resampled = new particleList(numParts);

			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;

			for (int i=1; i<length; i++)
			{
				double[] procnoise = new double[4];
				for (int randcount=0; randcount<4; randcount++)
				{
					procnoise[randcount] = Qval*generator.nextGaussian();
				}
				path[0][i] = path[0][i-1] + (1.0/fps)*path[2][i-1] + noise[deltaT-1][0]*procnoise[0] + noise[deltaT-1][1]*procnoise[1];
				path[2][i] = path[2][i-1] + noise[deltaT-1][1]*procnoise[0] + noise[deltaT-1][2]*procnoise[1];
				path[1][i] = path[1][i-1] + (1.0/fps)*path[3][i-1] + noise[deltaT-1][0]*procnoise[2] + noise[deltaT-1][1]*procnoise[3];
				path[3][i] = path[3][i-1] + noise[deltaT-1][1]*procnoise[2] + noise[deltaT-1][2]*procnoise[3];
				xmax = Math.max(xmax, path[0][i]);
				xmin = Math.min(xmin, path[0][i]);
				ymin = Math.min(ymin, path[1][i]);
				ymax = Math.max(ymax, path[1][i]);

				xmax = Math.max(xmax, sensorXmeter);
				xmin = Math.min(xmin, sensorXmeter);
				ymax = Math.max(ymax, sensorYmeter);
				ymin = Math.min(ymin, sensorYmeter);

 		 	}

			startThread();
		}


	}

	private class clearListener implements ActionListener
	{
		public void actionPerformed (ActionEvent event)
		{
			animator=null;
			// 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;

			lp.Xin.setText("500, 500");
			lp.Yin.setText("10, 10, 1");
			lp.Qin.setText("10");
			lp.Xvel.setText("-30");
			lp.Yvel.setText("-30");
			lp.Xsensor.setText("0");
			lp.Ysensor.setText("0");
			lp.MCIter.setText("2");
			lp.Timestep.setText("50");
			lp.Npart.setText("1000");

			run=false;
			animating=false;
			ploterror=false;
			rp.repaint();
			pathErrorPanel.repaint();
			measErrorPanel.repaint();
		}
	}

	private class XinListener implements ActionListener
	{
		public void actionPerformed (ActionEvent event)
		{
			if (animating)
				return;

			tokenizer = new StringTokenizer(lp.Xin.getText(),"(), ", false);

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "x position";

			success = false;
			while(!success)
			{
				try
				{
					xin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter x position.","Invalid x position",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "y position";

			success = false;
			while(!success)
			{
				try
				{
					yin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter y position.","Invalid y position",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			jetXmeter = xin;
			jetYmeter = yin;
			xmax = Math.max(xmax, jetXmeter);
			xmin = Math.min(xmin, jetXmeter);
			ymax = Math.max(ymax, jetYmeter);
			ymin = Math.min(ymin, jetYmeter);
			lp.Xin.setText(Double.toString(xin)+", "+Double.toString(yin));
			rp.repaint();
		}
	}

	private class YinListener implements ActionListener
	{
		public void actionPerformed (ActionEvent event)
		{
			if (animating)
				return;

			tokenizer = new StringTokenizer(lp.Yin.getText(),"(), ", false);

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "range error";

			success = false;
			while(!success)
			{
				try
				{
					rin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Reenter range error.","Invalid range error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "range rate error";

			success = false;
			while(!success)
			{
				try
				{
					rdotin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter range rate error.","Invalid range rate error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "angle error";

			success = false;
			while(!success)
			{
				try
				{
					anglein=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter angular error.","Invalid angular error",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			rStdv=rin;
			rDotStdv=rdotin;
			phiStdvRad=anglein*Math.PI/180;
			lp.Yin.setText(Double.toString(rin)+", "+Double.toString(rdotin)+", "+Double.toString(anglein));

		}
	}
	private class XsensorListener implements ActionListener
	{
		public void actionPerformed (ActionEvent event)
		{
			if (animating)
				return;
			sensorXmeter = Double.parseDouble(lp.Xsensor.getText());
			xmax = Math.max(xmax, sensorXmeter);
			xmin = Math.min(xmin, sensorXmeter);
			rp.repaint();
		}
	}
	private class YsensorListener implements ActionListener
	{
		public void actionPerformed (ActionEvent event)
		{
			if (animating)
				return;
			sensorYmeter = Double.parseDouble(lp.Ysensor.getText());
			ymax = Math.max(ymax, sensorYmeter);
			ymin = Math.min(ymin, sensorYmeter);
			rp.repaint();
		}
	}

public class particleList
{
	public double[] xPosition, yPosition, xVelocity, yVelocity, weight;
	private double[] cumpr, u;
	private Random random;
	private int length;
	public Color pcolor;

	public particleList(int N)
	{
		length = N;
		xPosition = new double[length];
		yPosition = new double[length];
		xVelocity = new double[length];
		yVelocity = new double[length];
		weight = new double[length];
		random = new Random();
	}

	public void setOne(int index, double[] values)
	{
		xPosition[index] = values[0];
		yPosition[index] = values[1];
		xVelocity[index] = values[2];
		yVelocity[index] = values[3];
		weight[index] = values[4];
	}

	public double[] getOne(int index)
	{
		double[] values = new double[5];
		values[0] = xPosition[index];
		values[1] = yPosition[index];
		values[2] = xVelocity[index];
		values[3] = yVelocity[index];
		values[4] = weight[index];

		return values;
	}

	public particleList resample()
	{
		cumpr = new double[length];
		particleList listOut = new particleList(length);

		cumpr[0] = weight[0];
		for (int i = 1; i<length; i++)
			cumpr[i] = cumpr[i-1]+weight[i];
		u = new double[length];
		u[0] = 1.0*random.nextFloat()/length;
		int i = 0;
		for (int j = 0; j<length; j++)
		{
			u[j] = u[0] + (j*1.0)/length;
			while (cumpr[i]<u[j])
			{
				i++;
				if (i>=length)
					break;
			}

			if (i < length)
			{
					double[] part=getOne(i);
					listOut.setOne(j,part);
			}
			if (j < length && i >=length)
			{
				for (int count = j; count < length; count++)
				{
					double[] part=getOne(length);
					listOut.setOne(count,part);
				}
			}
			listOut.weight[j] = 1.0/length;
		}

		return listOut;
	}

	public void plotParticles(Graphics g, double xmin, double xmax, double ymin, double ymax, Dimension d)
	{
		g.setColor(pcolor);
		for (int count=0; count<length; count++)
		{
			int x=(int)((xPosition[count]-xmin)*(d.width-70)/(xmax-xmin)+50);
			int y=(int)(d.height-(yPosition[count]-ymin)*(d.height-40)/(ymax-ymin)-20);
			g.drawRect(x,y,2,2);
		}
	}
	}

	/** Add Component Without a Layout Manager (Absolute Positioning) */
	private void addComponent(Container container,Component c,int x,int y,int width,int height)
	{
		c.setBounds(x,y,width,height);
		container.add(c);
	}





}