benchmarks/Java/SmartLightsController/MotionDetection.java

   1 package SmartLightsController;
   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         throws RemoteException {
 146
 147                 // Configure the Gaussian model used for background detection
 148                 configGaussian = new ConfigBackgroundGaussian(_threshold, _learnSpeed);
 149                 configGaussian.initialVariance = _initialVariance;
 150                 configGaussian.minimumDifference = _minDifference;
 151
 152                 // setup the background detector
 153                 ImageType imageType = ImageType.single(ImageFloat32.class);
 154                 backgroundDetector = FactoryBackgroundModel.stationaryGaussian(configGaussian, imageType);
 155
 156                 // setup the gui if we are going to use it
 157                 if (DO_GRAPHICAL_USER_INTERFACE) {
 158
 159                         // create an image grid for images to place on, tile fashion
 160                         gui = new ImageGridPanel(1, 2);
 161
 162                         // make the window large so we dont have to manually resize with the mouse
 163                         gui.setSize(1920, 1080);
 164
 165                         // Make the window visible and set the title
 166                         ShowImages.showWindow(gui, "Static Scene: Background Segmentation", true);
 167                 }
 168
 169                 // Launch the worker thread
 170                 workThread = new Thread(new Runnable() {
 171                         public void run() {
 172
 173                                 while (true) {
 174                                         runMotionDetection();
 175                                 }
 176                         }
 177                 });
 178                 workThread.start();
 179
 180
 181                 // Launch the callback thread
 182                 callBackThread = new Thread(new Runnable() {
 183                         public void run() {
 184
 185                                 while (true) {
 186                                         doCallbacks();
 187                                 }
 188                         }
 189                 });
 190                 callBackThread.start();
 191         }
 192
 193
 194         /*******************************************************************************************************************************************
 195         **
 196         **  Public Methods
 197         **
 198         *******************************************************************************************************************************************/
 199
 200         /** Method to add a new frame to the motion detector.
 201          *
 202          *   @param _newFrame  [byte[]], Frame data of new frame.
 203          *   @param _timestamp [Date]  , Timestamp of new frame.
 204          *
 205          *   @return [void] None.
 206          */
 207         public void addFrame(byte[]  _newFrame, Date _timestamp) {
 208                 BufferedImage img = null;
 209
 210                 try {
 211                         // Parse the byte array into a Buffered Image
 212                         InputStream in = new ByteArrayInputStream(_newFrame);
 213                         img = ImageIO.read(in);
 214
 215                 } catch (Exception e) {
 216                         e.printStackTrace();
 217                         return;
 218                 }
 219
 220                 // Save the image and timestamp for use later
 221                 imageWriteLock.lock();// lock the image and timestamp buffers since multithread
 222                 latestImage = img;// image into image buffer
 223                 possibleDate = _timestamp;// timestamp into timestamp buffer
 224                 imageWriteLock.unlock();// Never forget to unlock
 225
 226                 // flag the worker thread that there is new data ready for processing
 227                 newFrameAvailable.set(true);
 228         }
 229
 230         /** Method to get the timestamp of the last time motion was detected
 231          *
 232          *   @return [Date] timestamp of last motion or null if no motion was ever detected.
 233          */
 234         public Date getTimestampOfLastMotion() {
 235                 Date ret = null;
 236
 237                 // Be safe because multithread
 238                 timestampReadLock.lock();
 239
 240                 // Checks if there was ever motion, if not then timestampOfLastMotion
 241                 // will be null
 242                 if (timestampOfLastMotion != null) {
 243                         // Clone since we don't know what the other person is going to do
 244                         // with the timestamp
 245                         ret = (Date)timestampOfLastMotion.clone();
 246                 }
 247
 248                 timestampReadLock.unlock();
 249
 250                 return ret;
 251         }
 252
 253
 254         /** Method to add a new frame to the motion detector from a camera
 255          *
 256          *   @param _camera  [Camera], Camera that has the new data.
 257          *
 258          *   @return [void] None.
 259          */
 260         public void newCameraFrameAvailable(byte[] latestFrame, long timeStamp) {
 261                 BufferedImage img = null;
 262
 263                 try {
 264                         // Parse the byte array into a Buffered Image
 265                         //InputStream in = new ByteArrayInputStream(_camera.getLatestFrame());
 266                         InputStream in = new ByteArrayInputStream(latestFrame);
 267                         img = ImageIO.read(in);
 268
 269                 } catch (RemoteException e) {
 270                         e.printStackTrace();
 271                         return;
 272
 273                 } catch (Exception e) {
 274                         e.printStackTrace();
 275                         return;
 276
 277                 }
 278
 279                 // Save the image and timestamp for use later
 280                 imageWriteLock.lock();  // lock the image and timestamp buffers since multithread
 281                 latestImage = img;              // image into image buffer
 282
 283                 // timestamp from camera into timestamp buffer
 284                 long dateLong = timeStamp;
 285                 possibleDate = new Date(dateLong);
 286
 287                 imageWriteLock.unlock();        // Never forget to unlock
 288
 289                 // flag the worker thread that there is new data ready for processing
 290                 newFrameAvailable.set(true);
 291         }
 292
 293         /** Method to register an object to recieve callbacks from this motion detector
 294          *
 295          *   @param _mdc  [MotionDetectionCallback], object to recieve callbacks.
 296          *
 297          *   @return [void] None.
 298          */
 299         public void registerCallback(MotionDetectionCallback _mdc) {
 300                 callbackList.add(_mdc);
 301         }
 302
 303         /*******************************************************************************************************************************************
 304         **
 305         **  Helper Methods
 306         **
 307         *******************************************************************************************************************************************/
 308
 309         /** Method that constantly loops checking if new data is available.  If there is
 310          *   new data, it is processed.
 311          *   This method should be run on a separate thread.
 312          *
 313          *   @return [void] None.
 314          */
 315         private void runMotionDetection() {
 316
 317                 // check if there is a new frame availble, only runs detection if there is new data to save
 318                 // computation time
 319                 if (!newFrameAvailable.get()) {
 320                         return;
 321                 }
 322
 323                 // Lock since we are accessing the data buffers
 324                 imageReadLock.lock();
 325
 326                 // processing data so now the buffered data is old
 327                 newFrameAvailable.set(false);
 328
 329                 // copy from buffer to local for processing
 330                 Date tmpDate = possibleDate;
 331
 332                 // Allocate space for the segmented image based on the first image we received
 333                 // cannot pre-allocate this since we do not know what the size of the images is
 334                 // before the first image arrives
 335                 if (segmented == null) {
 336                         segmented = new ImageUInt8(latestImage.getWidth(), latestImage.getHeight());
 337                 }
 338
 339                 // copy from data buffers and convert into correct data type for BoofCv libraries
 340                 newFrameFloat = ConvertBufferedImage.convertFrom(latestImage, newFrameFloat);
 341
 342                 // All done accessing the data buffers
 343                 imageReadLock.unlock();
 344
 345                 // Run background detection
 346                 backgroundDetector.segment(newFrameFloat, segmented);
 347
 348                 // Update the background baseline every 10 frames, helps the algorithm
 349                 frameCounter++;
 350                 if (frameCounter > 10) {
 351                         backgroundDetector.updateBackground(newFrameFloat);
 352                         frameCounter = 0;
 353                 }
 354
 355                 // get the raw pixel data, gray-scale image
 356                 byte[] frameData = segmented.getData();
 357
 358                 // count the number of pixels of the image that was deemed as "motion"
 359                 double count = 0;
 360                 double countMotion = 0;
 361                 for (byte b : frameData) {
 362                         count++;
 363                         if (b > 0) {
 364                                 countMotion++;
 365                         }
 366                 }
 367
 368                 // calculate the percentage of the image that was in motion
 369                 double percentMotion = (countMotion / count) * 100.0;
 370
 371                 // Check if a high enough percentage of the image was in motion to say that there was motion in this frame of data
 372                 if (percentMotion > MOTION_DETECTED_THRESHOLD_PERCENTAGE) {
 373
 374                         // Motion detected so save timestamp of this frame to another buffer
 375                         timestampWriteLock.lock();
 376                         timestampOfLastMotion = (Date)tmpDate.clone();                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          // clone to a different buffer
 377                         timestampWriteLock.unlock();
 378
 379                         System.out.println("Motion Detected (with percentage: " + Double.toString(percentMotion) + "%)");
 380                 }
 381
 382                 // Do output to the screen if we are using gui mode
 383                 if (DO_GRAPHICAL_USER_INTERFACE) {
 384
 385                         // change image data unto correct type for rendering
 386                         BufferedImage visualized1 = new BufferedImage(segmented.width, segmented.height, BufferedImage.TYPE_INT_RGB);
 387                         VisualizeBinaryData.renderBinary(segmented, false, visualized1);
 388
 389                         // change image data unto correct type for rendering
 390                         BufferedImage visualized2 = null;
 391                         visualized2 = ConvertBufferedImage.convertTo(newFrameFloat, visualized2, true);
 392
 393                         // place the images into the image grid
 394                         gui.setImage(0, 1, visualized1);
 395                         gui.setImage(0, 2, visualized2);
 396
 397                         // trigger rendering
 398                         gui.repaint();
 399                 }
 400         }
 401
 402         /** Method that constantly loops checking if the callbacks should be issues and
 403          *   issues the callbacks if they should be issues.
 404          *   This method should be run on a separate thread.
 405          *
 406          *   @return [void] None.
 407          */
 408         private void doCallbacks() {
 409
 410                 // Keep looping forever for callback
 411                 while (true) {
 412
 413                         // If motion detected
 414                         if (motionDetected.compareAndSet(true, false)) {
 415
 416                                 // Motion was detected so issue callbacks to all objects that registered
 417                                 // to receive callback from this class.
 418                                 for (MotionDetectionCallback c : callbackList) {
 419                                         //try {
 420                                                 c.motionDetected(this);
 421                                         //} catch (RemoteException re) {
 422                                         //}
 423                                 }
 424
 425                         } else {
 426
 427                                 // Sleep for 15 millisec to give time for new frame to arrive
 428                                 try {
 429                                         Thread.sleep(15);
 430                                 } catch (InterruptedException ie) {
 431                                 }
 432                         }
 433                 }
 434         }
 435
 436
 437
 438
 439         // /*******************************************************************************************************************************************
 440         // **  Main Method used for testing
 441         // *******************************************************************************************************************************************/
 442         // public static void main(String[] args) {
 443         //     MotionDetection mo = new MotionDetection(12, 0.5f, 10, 10);
 444
 445         //     AmcrestCamera cam = null;
 446         //     try {
 447
 448         //         InetAddress addr = InetAddress.getByName("192.168.1.29");
 449         //         cam = new AmcrestCamera(addr, "admin", "55779CatSoundz32");
 450         //         cam.registerCallback(mo);
 451         //         cam.start();
 452         //         // cam.streamDisconnect();
 453
 454         //     } catch (Exception e) {
 455
 456         //     }
 457
 458         //     while (true) {
 459
 460         //     }
 461
 462         // }
 463 }
 464