Java tutorial
/* * Copyright (c) 2017 Titan Robotics Club (http://www.titanrobotics.com) * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all * copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE * SOFTWARE. */ package trclib; import org.opencv.core.Mat; import org.opencv.core.Point; import org.opencv.core.Rect; import org.opencv.core.Scalar; import org.opencv.imgproc.Imgproc; /** * This class implements a generic OpenCV detector. Typically, it is extended by a specific detector that provides * the algorithm to process an image for detecting objects using OpenCV APIs. * * @param <O> specifies the type of the detected objects. */ public abstract class TrcOpenCvDetector<O> implements TrcVisionTask.VisionProcessor<Mat, O> { protected static final String moduleName = "TrcOpenCvDetector"; protected static final boolean debugEnabled = false; protected static final boolean tracingEnabled = false; protected static final boolean useGlobalTracer = false; protected static final TrcDbgTrace.TraceLevel traceLevel = TrcDbgTrace.TraceLevel.API; protected static final TrcDbgTrace.MsgLevel msgLevel = TrcDbgTrace.MsgLevel.INFO; protected TrcDbgTrace dbgTrace = null; protected static final boolean USE_VISIONTASK = false; private final String instanceName; private TrcVideoSource<Mat> videoSource; private TrcVisionTask<Mat, O> visionTask; /** * Constructor: Create an instance of the object. * * @param instanceName specifies the instance name. * @param videoSource specifies the video source. * @param numImageBuffers specifies the number of image buffers to allocate. * @param detectedObjectBuffers specifies the array of preallocated detected object buffers. */ public TrcOpenCvDetector(final String instanceName, TrcVideoSource<Mat> videoSource, int numImageBuffers, O[] detectedObjectBuffers) { if (debugEnabled) { dbgTrace = useGlobalTracer ? TrcDbgTrace.getGlobalTracer() : new TrcDbgTrace(moduleName + "." + instanceName, tracingEnabled, traceLevel, msgLevel); } this.instanceName = instanceName; this.videoSource = videoSource; // // Pre-allocate the image buffers. // Mat[] imageBuffers = new Mat[numImageBuffers]; for (int i = 0; i < imageBuffers.length; i++) { imageBuffers[i] = new Mat(); } if (USE_VISIONTASK) { visionTask = new TrcVisionTask<Mat, O>(instanceName, this, imageBuffers, detectedObjectBuffers); } } //TrcOpenCvDetector /** * This method returns the instance name. * * @return instance name. */ public String toString() { return instanceName; } //toString /** * This method returns the state of the detector. * * @return true if the detector is enabled, false if disabled. */ public boolean isEnabled() { final String funcName = "isEnabled"; boolean enabled = visionTask != null && visionTask.isEnabled(); if (debugEnabled) { dbgTrace.traceEnter(funcName, TrcDbgTrace.TraceLevel.API); dbgTrace.traceExit(funcName, TrcDbgTrace.TraceLevel.API, "=%s", Boolean.toString(enabled)); } return enabled; } //isEnabled /** * This method enables/disables the vision processing task. * * @param enabled specifies true to enable vision task, false to disable. */ public void setEnabled(boolean enabled) { final String funcName = "setEnabled"; if (debugEnabled) { dbgTrace.traceEnter(funcName, TrcDbgTrace.TraceLevel.API, "enabled=%s", Boolean.toString(enabled)); } if (visionTask != null) { visionTask.setEnabled(enabled); } if (debugEnabled) { dbgTrace.traceExit(funcName, TrcDbgTrace.TraceLevel.API); } } //setEnabled /** * This method is called to overlay rectangles on an image to the video output. * * @param image specifies the frame to be rendered to the video output. * @param detectedObjectRects specifies the detected object rectangles. * @param color specifies the color of the rectangle outline. * @param thickness specifies the thickness of the rectangle outline. */ public void drawRectangles(Mat image, Rect[] detectedObjectRects, Scalar color, int thickness) { // // Overlay a rectangle on each detected object. // synchronized (image) { if (detectedObjectRects != null) { for (Rect r : detectedObjectRects) { // // Draw a rectangle around the detected object. // Imgproc.rectangle(image, new Point(r.x, r.y), new Point(r.x + r.width, r.y + r.height), color, thickness); } } videoSource.putFrame(image); } } //drawRectangles // // Implements the TrcVisionTask.VisionProcesor interface. // /** * This method is called to grab an image frame from the video input. * * @param image specifies the frame buffer to hold the captured image. * @return true if frame is successfully captured, false otherwise. */ @Override public boolean grabFrame(Mat image) { boolean success = false; synchronized (image) { success = videoSource.getFrame(image); } return success; } //grabFrame } //class TrcOpenCvDetector