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Bugfixes, normal fixes
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- Fixed some stuff
- Fixed a pretty bad bug (frameOn and frameOff were not being set to
null, which resulted in the processor processing the same images again
and again)
- Commented
- Fixed image-saving-no-directory bug
- Added nice methods in RoboRioClient to accept PreciceRectangles
- Added amazingness
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@mailmindlin
mailmindlin committed Apr 18, 2016
1 parent ce9b30a commit e757bca
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Showing 2 changed files with 56 additions and 35 deletions.
83 changes: 48 additions & 35 deletions src/com/moe365/mopi/ImageProcessor.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,10 +22,20 @@ public class ImageProcessor implements Runnable {
public static final int step = 1, tolerance = 70;

public static byte saturateByte(int num) {
return (byte) (num > 0xFF ? 0xFF : num < 0 ? 0 : num);
return (num > 0xFF) ? ((byte)0xFF) : ((num < 0) ? 0 : ((byte)num));
}

public static void split(int px, int[] buf) {
buf[0] = (px >>> 16) & 0xFF;
buf[1] = (px >> 8) & 0xFF;
buf[2] = px & 0xFF;
}
/**
* Whether to save the diff generated.
*/
public boolean saveDiff = false;
/**
* Whether the processor is currently processing images.
*/
AtomicBoolean imageLock = new AtomicBoolean(false);
protected final RoboRioClient client;
/**
Expand Down Expand Up @@ -81,19 +91,32 @@ public void run() {
Thread.sleep(100);
if (!imageLock.compareAndSet(false, true))
throw new IllegalStateException();
//check again, just to be safe
if (frameOff.get() != null && frameOn.get() != null) {
if (saveDiff)
calcDeltaWithDiff(img);
else
calcDeltaAdv();
try {
//check again, just to be safe
if (frameOff.get() != null && frameOn.get() != null) {
if (saveDiff)
calcDeltaWithDiff(img);
else
calcDeltaAdv();
//release the processed frames
frameOff.get().recycle();
frameOff.set(null);
frameOn.get().recycle();
frameOn.set(null);
}
} finally {
//release the lock on images
if (!imageLock.compareAndSet(true, false))
throw new IllegalStateException();
}
if (!imageLock.compareAndSet(true, false))
throw new IllegalStateException();
}
} catch (InterruptedException e) {
e.printStackTrace();
return;
} catch (Exception e) {
//be sure to print any/all exceptions
e.printStackTrace();
throw e;
}
}
public void read(VideoFrame frame, short[][] red, short[][] green, short[][] blue) {
Expand Down Expand Up @@ -130,11 +153,6 @@ public void calcDeltaSimple(BufferedImage img) {
}
System.out.println("(done)");
}
public void split(int px, int[] buf) {
buf[0] = (px >>> 16) & 0xFF;
buf[1] = (px >> 8) & 0xFF;
buf[2] = px & 0xFF;
}
public void calcDeltaWithDiff(BufferedImage img) {
// calculated yet)
boolean[][] processed = new boolean[height][width];
Expand All @@ -155,14 +173,12 @@ public void calcDeltaWithDiff(BufferedImage img) {
if (processed[y][x])
continue;
processed[y][x] = true;
int px = 0;
split(on.getRGB(x, y), pxOn);
split(off.getRGB(x, y), pxOff);
int dR = pxOn[0] - pxOff[0];
int dG = pxOn[1] - pxOff[1];
int dB = pxOn[2] - pxOff[2];
if (dG > tolerance)
px = (saturateByte(dR) << 16) | (saturateByte(dG) << 8) | saturateByte(dB);
int px = (saturateByte(dR) << 16) | (saturateByte(dG) << 8) | saturateByte(dB);
/*if (dG > tolerance) {
for (int i = y - step/2; i < y + step/2; i++) {
for (int j = x - step/2; j < x + step/2; x++) {
Expand All @@ -180,7 +196,7 @@ public void calcDeltaWithDiff(BufferedImage img) {
// if (dB > tolerance)
// px |= 0xFF;
img.setRGB(x, y, px);
/*if (dG > 50) {
/*if (dG > tolerance) {
for (int y1 = Math.max(0, y-15); y1 < Math.min(height, y + 15); y1++) {
for (int x1 = Math.max(0, x-15); x1 < Math.min(width, x + 15); x1++) {
if (processed[y1][x1])
Expand All @@ -202,7 +218,10 @@ public void calcDeltaWithDiff(BufferedImage img) {
}
}
try {
File file = new File("img/delta" + i.getAndIncrement() + ".png");
File imgDir = new File("img");
if (!(imgDir.exists() && imgDir.isDirectory()))
imgDir.mkdirs();
File file = new File(imgDir, "delta" + i.getAndIncrement() + ".png");
System.out.println("Saving image to " + file);
ImageIO.write(img, "PNG", file);
} catch (Exception e) {
Expand Down Expand Up @@ -249,46 +268,40 @@ protected void processBooleanMap(boolean[][] processed) {
List<PreciseRectangle> rectangles;
{
List<Rectangle> upRects = new LinkedList<>();
//find rectangles
BoundingBoxThing.boundingBoxRecursive(processed, upRects, 0, processed[0].length - 1, 0, processed.length - 1, -1, -1, -1, -1);
//sort the rectangles by area
upRects.sort((a,b)->(Double.compare(b.getWidth() * b.getHeight(), a.getWidth() * a.getHeight())));
final double wf = 1.0 / ((double) width);
final double hf = 1.0 / ((double) height);
//scale the rectangles to be in terms of width/height
rectangles = upRects.stream()
.map(r->(new PreciseRectangle(r).scale(wf, hf, wf, hf)))
.collect(Collectors.toList());
}
//print the rectangles' dimensions to STDOUT
for (PreciseRectangle rectangle : rectangles) {
double x = rectangle.getX();
double y = rectangle.getY();
double rw = rectangle.getWidth();
double rh = rectangle.getHeight();
System.out.println("=>X: " + x + "; Y: " + y + "; W: " + rw + "; H:" + rh);
}
//send the largest rectangle(s) to the Rio
try {
if (client != null) {
if (rectangles.isEmpty()) {
client.writeNoneFound();
} else if (rectangles.size() == 1) {
client.writeOneFound(rectangles.get(0));
} else {
PreciseRectangle rect0 = rectangles.get(0);
double x0 = rect0.getX();
double y0 = rect0.getY();
double w0 = rect0.getWidth();
double h0 = rect0.getHeight();
if (rectangles.size() == 1) {
client.writeOneFound(x0, y0, w0, h0);
} else {
PreciseRectangle rect1 = rectangles.get(1);
double x1 = rect1.getX();
double y1 = rect1.getY();
double w1 = rect1.getWidth();
double h1 = rect1.getHeight();
client.writeTwoFound(x0, y0, w0, h0, x1, h1, w1, h1);
}
client.writeTwoFound(rectangles.get(0), rectangles.get(1));
}
}
} catch (IOException | NullPointerException e) {
e.printStackTrace();
}
//Offer the rectangles to be put in the SSE stream
if (Main.httpServer != null)
Main.httpServer.offerRectangles(rectangles);
System.out.println("(done)");
Expand Down
8 changes: 8 additions & 0 deletions src/com/moe365/mopi/RoboRioClient.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,8 @@
import java.nio.ByteBuffer;
import java.util.concurrent.atomic.AtomicInteger;

import com.moe365.mopi.geom.PreciseRectangle;

/**
* UDP server to broadcast data at the RIO.
* <p>
Expand Down Expand Up @@ -133,6 +135,9 @@ public void write(short status, short ack) throws IOException {
public void writeNoneFound() throws IOException {
write(STATUS_NONE_FOUND);
}
public void writeOneFound(PreciseRectangle rect) throws IOException {
writeOneFound(rect.getX(), rect.getY(), rect.getWidth(), rect.getHeight());
}
public void writeOneFound(double left, double top, double width, double height) throws IOException {
build(STATUS_ONE_FOUND, (short) 0);
buffer.putDouble(top);
Expand All @@ -141,6 +146,9 @@ public void writeOneFound(double left, double top, double width, double height)
buffer.putDouble(height);
socket.send(packet_40);
}
public void writeTwoFound(PreciseRectangle rect1, PreciseRectangle rect2) throws IOException {
writeTwoFound(rect1.getX(), rect1.getY(), rect1.getWidth(), rect1.getHeight(), rect2.getX(), rect2.getY(), rect2.getWidth(), rect2.getHeight());
}
public void writeTwoFound(double left1, double top1, double width1, double height1, double left2, double top2, double width2, double height2) throws IOException {
build(STATUS_TWO_FOUND, (short) 0);
buffer.putDouble(left1);
Expand Down

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