+++ /dev/null
-package IrrigationController;
-// IoT packages
-import iotcode.interfaces.*;
-
-// BoofCv packages
-import boofcv.alg.background.BackgroundModelStationary;
-import boofcv.factory.background.ConfigBackgroundGaussian;
-import boofcv.factory.background.FactoryBackgroundModel;
-import boofcv.gui.binary.VisualizeBinaryData;
-import boofcv.gui.image.ImageGridPanel;
-import boofcv.gui.image.ShowImages;
-import boofcv.io.MediaManager;
-import boofcv.io.UtilIO;
-import boofcv.io.image.SimpleImageSequence;
-import boofcv.io.image.ConvertBufferedImage;
-import boofcv.io.wrapper.DefaultMediaManager;
-import boofcv.struct.image.ImageBase;
-import boofcv.struct.image.ImageFloat32;
-import boofcv.struct.image.ImageType;
-import boofcv.struct.image.ImageUInt8;
-import boofcv.alg.filter.blur.BlurImageOps;
-
-
-// Standard Java Packages
-import java.awt.image.BufferedImage;
-import java.util.Date;
-import java.util.concurrent.locks.Lock;
-import java.util.concurrent.locks.ReadWriteLock;
-import java.util.concurrent.locks.ReentrantReadWriteLock;
-import java.util.concurrent.atomic.AtomicBoolean;
-import java.awt.image.ColorModel;
-import java.awt.image.WritableRaster;
-import java.util.List;
-import java.util.ArrayList;
-import java.io.ByteArrayInputStream;
-import java.io.ByteArrayOutputStream;
-import java.io.File;
-import java.io.IOException;
-import java.io.InputStream;
-import javax.imageio.ImageIO;
-
-// RMI Packages
-import java.rmi.RemoteException;
-import java.rmi.server.UnicastRemoteObject;
-
-// Checker annotations
-//import iotchecker.qual.*;
-
-
-
-/** Class MotionDetection to do motion detection using images
- *
- *
- * @author Ali Younis <ayounis @ uci.edu>
- * @version 1.0
- * @since 2016-03-21
- */
-class MotionDetection extends UnicastRemoteObject implements CameraCallback {
-
- // Define Like variables
- private static boolean DO_GRAPHICAL_USER_INTERFACE = false;
-
- /*******************************************************************************************************************************************
- **
- ** Constants
- **
- *******************************************************************************************************************************************/
- private final float MOTION_DETECTED_THRESHOLD_PERCENTAGE = 5;
-
-
- /*******************************************************************************************************************************************
- **
- ** Variables
- **
- *******************************************************************************************************************************************/
-
- // Timestamp buffer and locks needed for that safety on that buffer
- // This is the buffer for post-detection algorithm use
- private Date timestampOfLastMotion = null;
- private ReadWriteLock timestampReadWriteLock = new ReentrantReadWriteLock();
- private Lock timestampReadLock = timestampReadWriteLock.readLock();
- private Lock timestampWriteLock = timestampReadWriteLock.writeLock();
-
- // Flag for when new data is available and ready for processing
- private AtomicBoolean newFrameAvailable = new AtomicBoolean(false);
-
- // Flag for determining if motion has been detected and therefore
- // the callbacks should be issued
- private AtomicBoolean motionDetected = new AtomicBoolean(false);
-
- // Image and timestamp buffers and locks needed for that safety on those buffers
- // Timestamp buffer for pre-detection algorithm use
- private BufferedImage latestImage = null;
- private Date possibleDate = null;
- private ReadWriteLock imageReadWriteLock = new ReentrantReadWriteLock();
- private Lock imageReadLock = imageReadWriteLock.readLock();
- private Lock imageWriteLock = imageReadWriteLock.writeLock();
-
- // List of objects wishing to receive callbacks from this class.
- private List<MotionDetectionCallback> callbackList = new ArrayList<MotionDetectionCallback>();
-
- // Variables to help with motion detection
- private ConfigBackgroundGaussian configGaussian = null;
- private BackgroundModelStationary backgroundDetector = null;
- private ImageUInt8 segmented = null;
- private ImageFloat32 newFrameFloat = null;
-
- // counts the number of frames since a background image is added to algorithm
- private int frameCounter = 0;
-
-
-
- /*******************************************************************************************************************************************
- **
- ** Threads
- **
- *******************************************************************************************************************************************/
- private Thread workThread = null;
- private Thread callBackThread = null;
-
- /*******************************************************************************************************************************************
- **
- ** GUI Stuff (Used Only for Testing)
- **
- *******************************************************************************************************************************************/
- ImageGridPanel gui;
-
-
-
- /** Constructor
- *
- * @param _threshold [float], Variable for gaussian background detector.
- * @param _learnSpeed [float], Variable for gaussian background detector.
- * @param _initialVariance [float], Variable for gaussian background detector.
- * @param _minDifference [float], Variable for gaussian background detector.
- *
- */
- public MotionDetection(float _threshold, float _learnSpeed, float _initialVariance, float _minDifference) throws RemoteException {
-
- // Configure the Gaussian model used for background detection
- configGaussian = new ConfigBackgroundGaussian(_threshold, _learnSpeed);
- configGaussian.initialVariance = _initialVariance;
- configGaussian.minimumDifference = _minDifference;
-
- // setup the background detector
- ImageType imageType = ImageType.single(ImageFloat32.class);
- backgroundDetector = FactoryBackgroundModel.stationaryGaussian(configGaussian, imageType);
-
- // setup the gui if we are going to use it
- if (DO_GRAPHICAL_USER_INTERFACE) {
-
- // create an image grid for images to place on, tile fashion
- gui = new ImageGridPanel(1, 2);
-
- // make the window large so we dont have to manually resize with the mouse
- gui.setSize(1920, 1080);
-
- // Make the window visible and set the title
- ShowImages.showWindow(gui, "Static Scene: Background Segmentation", true);
- }
-
- // Launch the worker thread
- workThread = new Thread(new Runnable() {
- public void run() {
-
- while (true) {
- runMotionDetection();
- }
- }
- });
- workThread.start();
-
-
- // Launch the callback thread
- callBackThread = new Thread(new Runnable() {
- public void run() {
-
- while (true) {
- doCallbacks();
- }
- }
- });
- callBackThread.start();
- }
-
-
- /*******************************************************************************************************************************************
- **
- ** Public Methods
- **
- *******************************************************************************************************************************************/
-
- /** Method to add a new frame to the motion detector.
- *
- * @param _newFrame [byte[]], Frame data of new frame.
- * @param _timestamp [Date] , Timestamp of new frame.
- *
- * @return [void] None.
- */
- public void addFrame(byte[] _newFrame, Date _timestamp) {
- BufferedImage img = null;
-
- try {
- // Parse the byte array into a Buffered Image
- InputStream in = new ByteArrayInputStream(_newFrame);
- img = ImageIO.read(in);
-
- } catch (Exception e) {
- e.printStackTrace();
- return;
- }
-
- // Save the image and timestamp for use later
- imageWriteLock.lock(); // lock the image and timestamp buffers since multithread
- latestImage = img; // image into image buffer
- possibleDate = _timestamp; // timestamp into timestamp buffer
- imageWriteLock.unlock(); // Never forget to unlock
-
- // flag the worker thread that there is new data ready for processing
- newFrameAvailable.set(true);
- }
-
- /** Method to get the timestamp of the last time motion was detected
- *
- * @return [Date] timestamp of last motion or null if no motion was ever detected.
- */
- public long getTimestampOfLastMotion() {
- Date ret = null;
-
- // Be safe because multithread
- timestampReadLock.lock();
-
- // Checks if there was ever motion, if not then timestampOfLastMotion
- // will be null
- if (timestampOfLastMotion != null) {
- // Clone since we don't know what the other person is going to do
- // with the timestamp
- ret = (Date)timestampOfLastMotion.clone();
- }
-
- timestampReadLock.unlock();
- long retLong = ret.getTime();
-
- return retLong;
- }
-
-
- /** Method to add a new frame to the motion detector from a camera
- *
- * @param _camera [Camera], Camera that has the new data.
- *
- * @return [void] None.
- */
- //public void newCameraFrameAvailable(@NonLocalRemote Camera _camera) {
- public void newCameraFrameAvailable(byte[] latestFrame, long timeStamp) {
- BufferedImage img = null;
-
- try {
- // Parse the byte array into a Buffered Image
- //InputStream in = new ByteArrayInputStream(_camera.getLatestFrame());
- InputStream in = new ByteArrayInputStream(latestFrame);
- img = ImageIO.read(in);
-
- } catch (RemoteException e) {
- e.printStackTrace();
- return;
-
- } catch (Exception e) {
- e.printStackTrace();
- return;
-
- }
-
- // Save the image and timestamp for use later
- imageWriteLock.lock(); // lock the image and timestamp buffers since multithread
- latestImage = img; // image into image buffer
-
- // timestamp from camera into timestamo buffer
- //try {
- //long dateLong = _camera.getTimestamp();
- long dateLong = timeStamp;
- possibleDate = new Date(dateLong);
- //} catch (RemoteException e) {
- // e.printStackTrace();
- //}
-
- imageWriteLock.unlock(); // Never forget to unlock
-
- // flag the worker thread that there is new data ready for processing
- newFrameAvailable.set(true);
- }
-
- /** Method to register an object to recieve callbacks from this motion detector
- *
- * @param _mdc [MotionDetectionCallback], object to recieve callbacks.
- *
- * @return [void] None.
- */
- public void registerCallback(MotionDetectionCallback _mdc) {
- callbackList.add(_mdc);
- }
-
- /*******************************************************************************************************************************************
- **
- ** Helper Methods
- **
- *******************************************************************************************************************************************/
-
- /** Method that constantly loops checking if new data is available. If there is
- * new data, it is processed.
- * This method should be run on a separate thread.
- *
- * @return [void] None.
- */
- private void runMotionDetection() {
-
- // check if there is a new frame availble, only runs detection if there is new data to save
- // computation time
- if (!newFrameAvailable.get()) {
- return;
- }
-
- // Lock since we are accessing the data buffers
- imageReadLock.lock();
-
- // processing data so now the buffered data is old
- newFrameAvailable.set(false);
-
- // copy from buffer to local for processing
- Date tmpDate = possibleDate;
-
- // Allocate space for the segmented image based on the first image we received
- // cannot pre-allocate this since we do not know what the size of the images is
- // before the first image arrives
- if (segmented == null) {
- segmented = new ImageUInt8(latestImage.getWidth(), latestImage.getHeight());
- }
-
- // copy from data buffers and convert into correct data type for BoofCv libraries
- newFrameFloat = ConvertBufferedImage.convertFrom(latestImage, newFrameFloat);
-
- // All done accessing the data buffers
- imageReadLock.unlock();
-
- // Run background detection
- backgroundDetector.segment(newFrameFloat, segmented);
-
- // Update the background baseline every 10 frames, helps the algorithm
- frameCounter++;
- if (frameCounter > 10) {
- backgroundDetector.updateBackground(newFrameFloat);
- frameCounter = 0;
- }
-
- // get the raw pixel data, gray-scale image
- byte[] frameData = segmented.getData();
-
- // count the number of pixels of the image that was deemed as "motion"
- double count = 0;
- double countMotion = 0;
- for (byte b : frameData) {
- count++;
- if (b > 0) {
- countMotion++;
- }
- }
-
- // calculate the percentage of the image that was in motion
- double percentMotion = (countMotion / count) * 100.0;
-
- // Check if a high enough percentage of the image was in motion to say that there was motion in this frame of data
- if (percentMotion > MOTION_DETECTED_THRESHOLD_PERCENTAGE) {
-
- // Motion detected so save timestamp of this frame to another buffer
- timestampWriteLock.lock();
- timestampOfLastMotion = (Date)tmpDate.clone(); // clone to a different buffer
- timestampWriteLock.unlock();
-
- System.out.println("Motion Detected (with percentage: " + Double.toString(percentMotion) + "%)");
- }
-
- // Do output to the screen if we are using gui mode
- if (DO_GRAPHICAL_USER_INTERFACE) {
-
- // change image data unto correct type for rendering
- BufferedImage visualized1 = new BufferedImage(segmented.width, segmented.height, BufferedImage.TYPE_INT_RGB);
- VisualizeBinaryData.renderBinary(segmented, false, visualized1);
-
- // change image data unto correct type for rendering
- BufferedImage visualized2 = null;
- visualized2 = ConvertBufferedImage.convertTo(newFrameFloat, visualized2, true);
-
- // place the images into the image grid
- gui.setImage(0, 1, visualized1);
- gui.setImage(0, 2, visualized2);
-
- // trigger rendering
- gui.repaint();
- }
- }
-
- /** Method that constantly loops checking if the callbacks should be issues and
- * issues the callbacks if they should be issues.
- * This method should be run on a separate thread.
- *
- * @return [void] None.
- */
- private void doCallbacks() {
-
- // Keep looping forever for callback
- while (true) {
-
- // If motion detected
- if (motionDetected.compareAndSet(true, false)) {
-
- // Motion was detected so issue callbacks to all objects that registered
- // to receive callback from this class.
- for (MotionDetectionCallback c : callbackList) {
- //try {
- c.motionDetected(this.getTimestampOfLastMotion());
- //} catch (RemoteException re) {
- //}
- }
-
- } else {
-
- // Sleep for 15 millisec to give time for new frame to arrive
- try {
- Thread.sleep(15);
- } catch (InterruptedException ie) {
- }
- }
- }
- }
-}
-
projects / iot2.git / blobdiff