benchmarks/Java/HomeSecurityController/MotionDetection.java

   1 package HomeSecurityController;
   2
   3 // IoT packages
   4 import iotcode.annotation.*;
   5 import iotcode.interfaces.*;
   6
   7 // BoofCv packages
   8 import boofcv.alg.background.BackgroundModelStationary;
   9 import boofcv.factory.background.ConfigBackgroundGaussian;
  10 import boofcv.factory.background.FactoryBackgroundModel;
  11 import boofcv.gui.binary.VisualizeBinaryData;
  12 import boofcv.gui.image.ImageGridPanel;
  13 import boofcv.gui.image.ShowImages;
  14 import boofcv.io.MediaManager;
  15 import boofcv.io.UtilIO;
  16 import boofcv.io.image.SimpleImageSequence;
  17 import boofcv.io.image.ConvertBufferedImage;
  18 import boofcv.io.wrapper.DefaultMediaManager;
  19 import boofcv.struct.image.ImageBase;
  20 import boofcv.struct.image.ImageFloat32;
  21 import boofcv.struct.image.ImageType;
  22 import boofcv.struct.image.ImageUInt8;
  23 import boofcv.alg.filter.blur.BlurImageOps;
  24
  25
  26 // Standard Java Packages
  27 import java.awt.image.BufferedImage;
  28 import java.util.Date;
  29 import java.util.concurrent.locks.Lock;
  30 import java.util.concurrent.locks.ReadWriteLock;
  31 import java.util.concurrent.locks.ReentrantReadWriteLock;
  32 import java.util.concurrent.atomic.AtomicBoolean;
  33 import java.awt.image.ColorModel;
  34 import java.awt.image.WritableRaster;
  35 import java.util.List;
  36 import java.util.ArrayList;
  37 import java.io.ByteArrayInputStream;
  38 import java.io.ByteArrayOutputStream;
  39 import java.io.File;
  40 import java.io.IOException;
  41 import java.io.InputStream;
  42 import javax.imageio.ImageIO;
  43
  44 // RMI Packages
  45 import java.rmi.RemoteException;
  46
  47 // For testing
  48 import java.net.*;
  49
  50 import java.rmi.Remote;
  51 import java.rmi.RemoteException;
  52
  53 import java.util.Iterator;
  54
  55 // Checker annotations
  56 //import iotchecker.qual.*;
  57
  58 /** Class MotionDetection to do motion detection using images
  59  *
  60  *
  61  * @author      Ali Younis <ayounis @ uci.edu>
  62  * @version     1.0
  63  * @since       2016-03-21
  64  */
  65 class MotionDetection implements CameraCallback {
  66
  67         // Define Like variables
  68         private static boolean DO_GRAPHICAL_USER_INTERFACE = false;
  69
  70         /*******************************************************************************************************************************************
  71         **
  72         **  Constants
  73         **
  74         *******************************************************************************************************************************************/
  75         private final float MOTION_DETECTED_THRESHOLD_PERCENTAGE = 15;
  76
  77
  78         /*******************************************************************************************************************************************
  79         **
  80         **  Variables
  81         **
  82         *******************************************************************************************************************************************/
  83
  84         // Timestamp buffer and locks needed for that safety on that buffer
  85         // This is the buffer for post-detection algorithm use
  86         private Date timestampOfLastMotion = null;
  87         private ReadWriteLock timestampReadWriteLock = new ReentrantReadWriteLock();
  88         private Lock timestampReadLock = timestampReadWriteLock.readLock();
  89         private Lock timestampWriteLock = timestampReadWriteLock.writeLock();
  90
  91         // Flag for when new data is available and ready for processing
  92         private AtomicBoolean newFrameAvailable = new AtomicBoolean(false);
  93
  94         // Flag for determining if motion has been detected and therefore
  95         // the callbacks should be issued
  96         private AtomicBoolean motionDetected = new AtomicBoolean(false);
  97
  98         // Image and timestamp buffers and  locks needed for that safety on those buffers
  99         // Timestamp buffer for pre-detection algorithm use
 100         private BufferedImage latestImage = null;
 101         private Date possibleDate = null;
 102         private ReadWriteLock imageReadWriteLock = new ReentrantReadWriteLock();
 103         private Lock imageReadLock = imageReadWriteLock.readLock();
 104         private Lock imageWriteLock = imageReadWriteLock.writeLock();
 105
 106         // List of objects wishing to receive callbacks from this class.
 107         private List<MotionDetectionCallback>
 108         callbackList = new ArrayList<MotionDetectionCallback>();
 109
 110         // Variables to help with motion detection
 111         private ConfigBackgroundGaussian configGaussian = null;
 112         private BackgroundModelStationary backgroundDetector = null;
 113         private ImageUInt8 segmented = null;
 114         private ImageFloat32 newFrameFloat = null;
 115
 116         // counts the number of frames since a background image is added to algorithm
 117         private int frameCounter = 0;
 118
 119         private CameraSmart _camera;
 120
 121         /*******************************************************************************************************************************************
 122         **
 123         **  Threads
 124         **
 125         *******************************************************************************************************************************************/
 126         private Thread workThread = null;
 127         private Thread callBackThread = null;
 128
 129         /*******************************************************************************************************************************************
 130         **
 131         **  GUI Stuff (Used Only for Testing)
 132         **
 133         *******************************************************************************************************************************************/
 134         ImageGridPanel gui;
 135
 136         /** Constructor
 137          *
 138          *   @param _threshold       [float], Variable for gaussian background detector.
 139          *   @param _learnSpeed      [float], Variable for gaussian background detector.
 140          *   @param _initialVariance [float], Variable for gaussian background detector.
 141          *   @param _minDifference   [float], Variable for gaussian background detector.
 142          *
 143          */
 144         public MotionDetection(float _threshold, float _learnSpeed, float _initialVariance, float _minDifference) {
 145
 146                 // Configure the Gaussian model used for background detection
 147                 configGaussian = new ConfigBackgroundGaussian(_threshold, _learnSpeed);
 148                 configGaussian.initialVariance = _initialVariance;
 149                 configGaussian.minimumDifference = _minDifference;
 150
 151                 // setup the background detector
 152                 ImageType imageType = ImageType.single(ImageFloat32.class);
 153                 backgroundDetector = FactoryBackgroundModel.stationaryGaussian(configGaussian, imageType);
 154
 155                 // setup the gui if we are going to use it
 156                 if (DO_GRAPHICAL_USER_INTERFACE) {
 157
 158                         // create an image grid for images to place on, tile fashion
 159                         gui = new ImageGridPanel(1, 2);
 160
 161                         // make the window large so we dont have to manually resize with the mouse
 162                         gui.setSize(1920, 1080);
 163
 164                         // Make the window visible and set the title
 165                         ShowImages.showWindow(gui, "Static Scene: Background Segmentation", true);
 166                 }
 167
 168                 // Launch the worker thread
 169                 workThread = new Thread(new Runnable() {
 170                         public void run() {
 171
 172                                 while (true) {
 173                                         runMotionDetection();
 174                                 }
 175                         }
 176                 });
 177                 workThread.start();
 178
 179
 180                 // Launch the callback thread
 181                 callBackThread = new Thread(new Runnable() {
 182                         public void run() {
 183
 184                                 while (true) {
 185                                         doCallbacks();
 186                                 }
 187                         }
 188                 });
 189                 callBackThread.start();
 190         }
 191
 192
 193         /*******************************************************************************************************************************************
 194         **
 195         **  Public Methods
 196         **
 197         *******************************************************************************************************************************************/
 198
 199         /** Method to add a new frame to the motion detector.
 200          *
 201          *   @param _newFrame  [byte[]], Frame data of new frame.
 202          *   @param _timestamp [Date]  , Timestamp of new frame.
 203          *
 204          *   @return [void] None.
 205          */
 206         public void addFrame(byte[]  _newFrame, Date _timestamp) {
 207                 BufferedImage img = null;
 208
 209                 try {
 210                         // Parse the byte array into a Buffered Image
 211                         InputStream in = new ByteArrayInputStream(_newFrame);
 212                         img = ImageIO.read(in);
 213
 214                 } catch (Exception e) {
 215                         e.printStackTrace();
 216                         return;
 217                 }
 218
 219                 // Save the image and timestamp for use later
 220                 imageWriteLock.lock();// lock the image and timestamp buffers since multithread
 221                 latestImage = img;// image into image buffer
 222                 possibleDate = _timestamp;// timestamp into timestamp buffer
 223                 imageWriteLock.unlock();// Never forget to unlock
 224
 225                 // flag the worker thread that there is new data ready for processing
 226                 newFrameAvailable.set(true);
 227         }
 228
 229         /** Method to get the timestamp of the last time motion was detected
 230          *
 231          *   @return [Date] timestamp of last motion or null if no motion was ever detected.
 232          */
 233         public Date getTimestampOfLastMotion() {
 234                 Date ret = null;
 235
 236                 // Be safe because multithread
 237                 timestampReadLock.lock();
 238
 239                 // Checks if there was ever motion, if not then timestampOfLastMotion
 240                 // will be null
 241                 if (timestampOfLastMotion != null) {
 242                         // Clone since we don't know what the other person is going to do
 243                         // with the timestamp
 244                         ret = (Date)timestampOfLastMotion.clone();
 245                 }
 246
 247                 timestampReadLock.unlock();
 248
 249                 return ret;
 250         }
 251
 252
 253         /** Method to add a new frame to the motion detector from a camera
 254          *
 255          *   @param _camera  [Camera], Camera that has the new data.
 256          *
 257          *   @return [void] None.
 258          */
 259         public void newCameraFrameAvailable(byte[] latestFrame, long timeStamp) {
 260                 BufferedImage img = null;
 261
 262                 try {
 263                         // Parse the byte array into a Buffered Image
 264                         //InputStream in = new ByteArrayInputStream(_camera.getLatestFrame());
 265                         InputStream in = new ByteArrayInputStream(latestFrame);
 266                         img = ImageIO.read(in);
 267
 268                 } catch (RemoteException e) {
 269                         e.printStackTrace();
 270                         return;
 271
 272                 } catch (Exception e) {
 273                         e.printStackTrace();
 274                         return;
 275
 276                 }
 277
 278                 // Save the image and timestamp for use later
 279                 imageWriteLock.lock();  // lock the image and timestamp buffers since multithread
 280                 latestImage = img;              // image into image buffer
 281
 282                 // timestamp from camera into timestamp buffer
 283                 long dateLong = timeStamp;
 284                 possibleDate = new Date(dateLong);
 285
 286                 imageWriteLock.unlock();        // Never forget to unlock
 287
 288                 // flag the worker thread that there is new data ready for processing
 289                 newFrameAvailable.set(true);
 290         }
 291
 292         /** Method to register an object to recieve callbacks from this motion detector
 293          *
 294          *   @param _mdc  [MotionDetectionCallback], object to recieve callbacks.
 295          *
 296          *   @return [void] None.
 297          */
 298         public void registerCallback(MotionDetectionCallback _mdc) {
 299                 callbackList.add(_mdc);
 300         }
 301
 302         /*******************************************************************************************************************************************
 303         **
 304         **  Helper Methods
 305         **
 306         *******************************************************************************************************************************************/
 307
 308         /** Method that constantly loops checking if new data is available.  If there is
 309          *   new data, it is processed.
 310          *   This method should be run on a separate thread.
 311          *
 312          *   @return [void] None.
 313          */
 314         private void runMotionDetection() {
 315
 316                 // check if there is a new frame availble, only runs detection if there is new data to save
 317                 // computation time
 318                 if (!newFrameAvailable.get()) {
 319                         return;
 320                 }
 321
 322                 // Lock since we are accessing the data buffers
 323                 imageReadLock.lock();
 324
 325                 // processing data so now the buffered data is old
 326                 newFrameAvailable.set(false);
 327
 328                 // copy from buffer to local for processing
 329                 Date tmpDate = possibleDate;
 330
 331                 // Allocate space for the segmented image based on the first image we received
 332                 // cannot pre-allocate this since we do not know what the size of the images is
 333                 // before the first image arrives
 334                 if (segmented == null) {
 335                         segmented = new ImageUInt8(latestImage.getWidth(), latestImage.getHeight());
 336                 }
 337
 338                 // copy from data buffers and convert into correct data type for BoofCv libraries
 339                 newFrameFloat = ConvertBufferedImage.convertFrom(latestImage, newFrameFloat);
 340
 341                 // All done accessing the data buffers
 342                 imageReadLock.unlock();
 343
 344                 // Run background detection
 345                 backgroundDetector.segment(newFrameFloat, segmented);
 346
 347                 // Update the background baseline every 10 frames, helps the algorithm
 348                 frameCounter++;
 349                 if (frameCounter > 10) {
 350                         backgroundDetector.updateBackground(newFrameFloat);
 351                         frameCounter = 0;
 352                 }
 353
 354                 // get the raw pixel data, gray-scale image
 355                 byte[] frameData = segmented.getData();
 356
 357                 // count the number of pixels of the image that was deemed as "motion"
 358                 double count = 0;
 359                 double countMotion = 0;
 360                 for (byte b : frameData) {
 361                         count++;
 362                         if (b > 0) {
 363                                 countMotion++;
 364                         }
 365                 }
 366
 367                 // calculate the percentage of the image that was in motion
 368                 double percentMotion = (countMotion / count) * 100.0;
 369
 370                 // Check if a high enough percentage of the image was in motion to say that there was motion in this frame of data
 371                 if (percentMotion > MOTION_DETECTED_THRESHOLD_PERCENTAGE) {
 372
 373                         // Motion detected so save timestamp of this frame to another buffer
 374                         timestampWriteLock.lock();
 375                         timestampOfLastMotion = (Date)tmpDate.clone();                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          // clone to a different buffer
 376                         timestampWriteLock.unlock();
 377
 378                         System.out.println("Motion Detected (with percentage: " + Double.toString(percentMotion) + "%)");
 379                 }
 380
 381                 // Do output to the screen if we are using gui mode
 382                 if (DO_GRAPHICAL_USER_INTERFACE) {
 383
 384                         // change image data unto correct type for rendering
 385                         BufferedImage visualized1 = new BufferedImage(segmented.width, segmented.height, BufferedImage.TYPE_INT_RGB);
 386                         VisualizeBinaryData.renderBinary(segmented, false, visualized1);
 387
 388                         // change image data unto correct type for rendering
 389                         BufferedImage visualized2 = null;
 390                         visualized2 = ConvertBufferedImage.convertTo(newFrameFloat, visualized2, true);
 391
 392                         // place the images into the image grid
 393                         gui.setImage(0, 1, visualized1);
 394                         gui.setImage(0, 2, visualized2);
 395
 396                         // trigger rendering
 397                         gui.repaint();
 398                 }
 399         }
 400
 401         /** Method that constantly loops checking if the callbacks should be issues and
 402          *   issues the callbacks if they should be issues.
 403          *   This method should be run on a separate thread.
 404          *
 405          *   @return [void] None.
 406          */
 407         private void doCallbacks() {
 408
 409                 // Keep looping forever for callback
 410                 while (true) {
 411
 412                         // If motion detected
 413                         if (motionDetected.compareAndSet(true, false)) {
 414
 415                                 // Motion was detected so issue callbacks to all objects that registered
 416                                 // to receive callback from this class.
 417                                 for (MotionDetectionCallback c : callbackList) {
 418                                         //try {
 419                                                 c.motionDetected(this);
 420                                         //} catch (RemoteException re) {
 421                                         //}
 422                                 }
 423
 424                         } else {
 425
 426                                 // Sleep for 15 millisec to give time for new frame to arrive
 427                                 try {
 428                                         Thread.sleep(15);
 429                                 } catch (InterruptedException ie) {
 430                                 }
 431                         }
 432                 }
 433         }
 434
 435
 436
 437
 438         // /*******************************************************************************************************************************************
 439         // **  Main Method used for testing
 440         // *******************************************************************************************************************************************/
 441         // public static void main(String[] args) {
 442         //     MotionDetection mo = new MotionDetection(12, 0.5f, 10, 10);
 443
 444         //     AmcrestCamera cam = null;
 445         //     try {
 446
 447         //         InetAddress addr = InetAddress.getByName("192.168.1.29");
 448         //         cam = new AmcrestCamera(addr, "admin", "55779CatSoundz32");
 449         //         cam.registerCallback(mo);
 450         //         cam.start();
 451         //         // cam.streamDisconnect();
 452
 453         //     } catch (Exception e) {
 454
 455         //     }
 456
 457         //     while (true) {
 458
 459         //     }
 460
 461         // }
 462 }
 463