+package SmartLightsController;
+
+// IoT packages
+import iotcode.annotation.*;
+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;
+
+// For testing
+import java.net.*;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+
+import java.util.Iterator;
+
+// 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 implements CameraCallback {
+
+ // Define Like variables
+ private static boolean DO_GRAPHICAL_USER_INTERFACE = false;
+
+ /*******************************************************************************************************************************************
+ **
+ ** Constants
+ **
+ *******************************************************************************************************************************************/
+ private final float MOTION_DETECTED_THRESHOLD_PERCENTAGE = 15;
+
+
+ /*******************************************************************************************************************************************
+ **
+ ** 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 Date 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();
+
+ return ret;
+ }
+
+
+ /** 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(CameraSmart _camera) {
+ BufferedImage img = null;
+
+ try {
+ // Parse the byte array into a Buffered Image
+ InputStream in = new ByteArrayInputStream(_camera.getLatestFrame());
+ 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
+ long dateLong = _camera.getTimestamp();
+ possibleDate = new Date(dateLong);
+
+ 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);
+ } catch (RemoteException re) {
+ }
+ }
+
+ } else {
+
+ // Sleep for 15 millisec to give time for new frame to arrive
+ try {
+ Thread.sleep(15);
+ } catch (InterruptedException ie) {
+ }
+ }
+ }
+ }
+
+
+
+
+ // /*******************************************************************************************************************************************
+ // ** Main Method used for testing
+ // *******************************************************************************************************************************************/
+ // public static void main(String[] args) {
+ // MotionDetection mo = new MotionDetection(12, 0.5f, 10, 10);
+
+ // AmcrestCamera cam = null;
+ // try {
+
+ // InetAddress addr = InetAddress.getByName("192.168.1.29");
+ // cam = new AmcrestCamera(addr, "admin", "55779CatSoundz32");
+ // cam.registerCallback(mo);
+ // cam.start();
+ // // cam.streamDisconnect();
+
+ // } catch (Exception e) {
+
+ // }
+
+ // while (true) {
+
+ // }
+
+ // }
+}
+
projects / iot2.git / commitdiff