org.myrobotlab.service

Class OpenCV

java.lang.Object

org.myrobotlab.framework.MessageService

org.myrobotlab.framework.Service

org.myrobotlab.service.abstracts.AbstractVideoSource

org.myrobotlab.service.OpenCV

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter, VideoSource

public class OpenCV
extends AbstractVideoSource

OpenCV - This service provides webcam support and video image processing It uses the JavaCV binding to the OpenCV library. OpenCV is a computer vision library. You can create an OpenCV service and then add a pipeline of OpenCVFilters to it to provide things like facial recognition, and KLOpticalTracking More Info about OpenCV : http://opencv.org/ JavaCV is maintained by Samuel Audet : https://github.com/bytedeco/javacv

See Also:

Serialized Form

Field Summary

Fields

Modifier and Type	Field and Description
static java.lang.String	BACKGROUND
boolean	capturing
static java.lang.String	DIRECTION_CLOSEST_TO_CENTER
static java.lang.String	DIRECTION_FARTHEST_BOTTOM
static java.lang.String	DIRECTION_FARTHEST_FROM_CENTER
static java.lang.String	DIRECTION_FARTHEST_LEFT
static java.lang.String	DIRECTION_FARTHEST_RIGHT
static java.lang.String	DIRECTION_FARTHEST_TOP
static java.lang.String	FILTER_DETECTOR
static java.lang.String	FILTER_DILATE
static java.lang.String	FILTER_ERODE
static java.lang.String	FILTER_FACE_DETECT
static java.lang.String	FILTER_FACE_RECOGNIZER
static java.lang.String	FILTER_FIND_CONTOURS
static java.lang.String	FILTER_GOOD_FEATURES_TO_TRACK
static java.lang.String	FILTER_GRAY
static java.lang.String	FILTER_LK_OPTICAL_TRACK
static java.lang.String	FILTER_PYRAMID_DOWN
static java.lang.String	FOREGROUND
static java.lang.String	INPUT_SOURCE_CAMERA
static java.lang.String	INPUT_SOURCE_IMAGE_DIRECTORY
static java.lang.String	INPUT_SOURCE_IMAGE_FILE
static java.lang.String	INPUT_SOURCE_MOVIE_FILE
static java.lang.String	INPUT_SOURCE_NETWORK
static java.lang.String	INPUT_SOURCE_PIPELINE
static org.slf4j.Logger	log
java.util.HashMap<java.lang.String,org.bytedeco.javacpp.opencv_core.IplImage>	masks
static java.lang.String	PART
static java.lang.String	SOURCE_KINECT_DEPTH
VideoStreamer	streamer
boolean	streamerEnabled
boolean	undockDisplay
VideoProcessor	videoProcessor

Fields inherited from class org.myrobotlab.framework.Service

cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Constructor Summary

Constructors

Constructor and Description
OpenCV(java.lang.String n)

Method Summary

Modifier and Type	Method and Description
OpenCVData	add(org.bytedeco.javacv.Frame image)
OpenCVData	add(SerializableImage image)
OpenCVFilter	addFilter(OpenCVFilter filter)
OpenCVFilter	addFilter(java.lang.String filterName)
OpenCVFilter	addFilter(java.lang.String name, java.lang.String filterType)
static org.bytedeco.javacv.Frame	BufferedImageToFrame(java.awt.image.BufferedImage src)
static org.bytedeco.javacpp.opencv_core.IplImage	BufferedImageToIplImage(java.awt.image.BufferedImage src)
void	capture()
void	captureFromImageFile(java.lang.String filename)
void	captureFromResourceFile(java.lang.String filename)
static java.awt.Rectangle	cvToAWT(org.bytedeco.javacpp.opencv_core.CvRect rect)
static Point2Df	findPoint(java.util.ArrayList<Point2Df> data, java.lang.String direction, java.lang.Double minValue)
int	getCameraIndex()
SerializableImage	getDisplay()
OpenCVData	getFaceDetect()
OpenCVFilter	getFilter(java.lang.String name)
java.util.List<OpenCVFilter>	getFiltersCopy()
OpenCVData	getGoodFeatures()
static ServiceType	getMetaData() This static method returns all the details of the class without it having to be constructed.
OpenCVData	getOpenCVData()
OpenCVData	getOpenCVData(java.lang.Integer timeout)
static java.lang.String[]	getPossibleFilters()
void	invokeFilterMethod(java.lang.String filterName, java.lang.String method, java.lang.Object... params)
static java.awt.image.BufferedImage	IplImageToBufferedImage(org.bytedeco.javacpp.opencv_core.IplImage src)
boolean	isCapturing()
boolean	isStreamerEnabled()
static void	main(java.lang.String[] args)
java.util.ArrayList<?>	publish(java.util.ArrayList<?> polygons)
ColoredPoint[]	publish(ColoredPoint[] points)
double[]	publish(double[] data)
org.bytedeco.javacpp.opencv_core.CvPoint	publish(org.bytedeco.javacpp.opencv_core.CvPoint point)
org.bytedeco.javacpp.opencv_core.CvPoint2D32f	publish(org.bytedeco.javacpp.opencv_core.CvPoint2D32f features)
Point2Df	publish(Point2Df point)
java.awt.Rectangle	publish(java.awt.Rectangle rectangle)
java.lang.String	publish(java.lang.String value)
boolean	publishDisplay(java.lang.Boolean b)
SerializableImage	publishDisplay(SerializableImage img) FIXME - input needs to be OpenCVData THIS IS NOT USED ! VideoProcessor NOW DOES OpenCVData - this will return NULL REMOVE !!
FilterWrapper	publishFilterState(FilterWrapper filterWrapper)
FilterWrapper	publishFilterState(java.lang.String name)
org.bytedeco.javacpp.opencv_core.IplImage	publishIplImageTemplate(org.bytedeco.javacpp.opencv_core.IplImage img)
void	publishNoRecognizedFace()
void	publishOpenCVData(boolean b)
OpenCVData	publishOpenCVData(OpenCVData data)
java.lang.String	publishRecognizedFace(java.lang.String value)
SerializableImage	publishTemplate(java.lang.String source, java.awt.image.BufferedImage img, int frameIndex)
void	recordOutput(java.lang.Boolean b)
java.lang.String	recordSingleFrame()
void	removeFilter(java.lang.String name)
void	removeFilters()
void	saveFrame(java.lang.String string)
java.lang.Integer	setCameraIndex(java.lang.Integer index)
void	setDisplayFilter(java.lang.String name)
void	setFilterState(FilterWrapper otherFilter)
java.lang.String	setFrameGrabberType(java.lang.String grabberType)
java.lang.String	setInputFileName(java.lang.String inputFile)
java.lang.String	setInputSource(java.lang.String inputSource)
void	setMask(java.lang.String name, org.bytedeco.javacpp.opencv_core.IplImage mask)
void	setMinDelay(int time)
void	setPipeline(java.lang.String pipeline)
java.lang.String	setRecordingSource(java.lang.String source)
void	setStreamerEnabled(boolean streamerEnabled)
void	showFrameNumbers(boolean b)
void	showTimestamp(boolean b)
java.awt.Dimension	sizeChange(java.awt.Dimension d)
void	stopCapture()
void	stopRecording(java.lang.String filename)
void	stopService() Stops the service.
boolean	undockDisplay(boolean b)

Methods inherited from class org.myrobotlab.service.abstracts.AbstractVideoSource

attach, detach

Methods inherited from class org.myrobotlab.framework.Service

addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, startService, stopHeartbeat, stopMsgRecording, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface org.myrobotlab.framework.interfaces.ServiceInterface

addListener, broadcastState, clearLastError, getDeclaredMethodNames, getDeclaredMethods, getDescription, getInstanceId, getLastError, getMethodMap, getMethodNames, getMethods, getNotifyList, getNotifyListKeySet, getOutbox, getSimpleName, getType, hasError, hasPeers, isRuntime, out, releasePeers, releaseService, removeListener, requiresSecurity, setInstanceId, setName, startService

Methods inherited from interface org.myrobotlab.framework.interfaces.ServiceQueue

in, invoke, invoke, out

Methods inherited from interface org.myrobotlab.framework.interfaces.LoggingSink

error, error, getName, info, warn

Methods inherited from interface org.myrobotlab.framework.interfaces.MessageSubscriber

subscribe, subscribe, subscribe, unsubscribe, unsubscribe, unsubscribe

Methods inherited from interface org.myrobotlab.framework.interfaces.MessageSender

send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking

Methods inherited from interface org.myrobotlab.framework.interfaces.StateSaver

load, save

Methods inherited from interface org.myrobotlab.framework.interfaces.Invoker

invoke, invoke, invoke, invokeOn

Methods inherited from interface org.myrobotlab.framework.interfaces.Attachable

attach, attach, detach, detach, detach, getAttached, isAttached, isAttached, isLocal

Methods inherited from interface org.myrobotlab.framework.interfaces.NameProvider

getName

Field Detail

log

public static final org.slf4j.Logger log

INPUT_SOURCE_CAMERA

public static final transient java.lang.String INPUT_SOURCE_CAMERA

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Constant Field Values

INPUT_SOURCE_MOVIE_FILE

public static final transient java.lang.String INPUT_SOURCE_MOVIE_FILE

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Constant Field Values

INPUT_SOURCE_NETWORK

public static final transient java.lang.String INPUT_SOURCE_NETWORK

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Constant Field Values

INPUT_SOURCE_PIPELINE

public static final transient java.lang.String INPUT_SOURCE_PIPELINE

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Constant Field Values

INPUT_SOURCE_IMAGE_FILE

public static final transient java.lang.String INPUT_SOURCE_IMAGE_FILE

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Constant Field Values

INPUT_SOURCE_IMAGE_DIRECTORY

public static final transient java.lang.String INPUT_SOURCE_IMAGE_DIRECTORY

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Constant Field Values

FILTER_LK_OPTICAL_TRACK

public static final transient java.lang.String FILTER_LK_OPTICAL_TRACK

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Constant Field Values

FILTER_PYRAMID_DOWN

public static final transient java.lang.String FILTER_PYRAMID_DOWN

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Constant Field Values

FILTER_GOOD_FEATURES_TO_TRACK

public static final transient java.lang.String FILTER_GOOD_FEATURES_TO_TRACK

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Constant Field Values

FILTER_DETECTOR

public static final transient java.lang.String FILTER_DETECTOR

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Constant Field Values

FILTER_ERODE

public static final transient java.lang.String FILTER_ERODE

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Constant Field Values

FILTER_DILATE

public static final transient java.lang.String FILTER_DILATE

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Constant Field Values

FILTER_FIND_CONTOURS

public static final transient java.lang.String FILTER_FIND_CONTOURS

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Constant Field Values

FILTER_FACE_DETECT

public static final transient java.lang.String FILTER_FACE_DETECT

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Constant Field Values

FILTER_FACE_RECOGNIZER

public static final transient java.lang.String FILTER_FACE_RECOGNIZER

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Constant Field Values

FILTER_GRAY

public static final transient java.lang.String FILTER_GRAY

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Constant Field Values

DIRECTION_FARTHEST_FROM_CENTER

public static final transient java.lang.String DIRECTION_FARTHEST_FROM_CENTER

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Constant Field Values

DIRECTION_CLOSEST_TO_CENTER

public static final transient java.lang.String DIRECTION_CLOSEST_TO_CENTER

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Constant Field Values

DIRECTION_FARTHEST_LEFT

public static final transient java.lang.String DIRECTION_FARTHEST_LEFT

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Constant Field Values

DIRECTION_FARTHEST_RIGHT

public static final transient java.lang.String DIRECTION_FARTHEST_RIGHT

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Constant Field Values

DIRECTION_FARTHEST_TOP

public static final transient java.lang.String DIRECTION_FARTHEST_TOP

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Constant Field Values

DIRECTION_FARTHEST_BOTTOM

public static final transient java.lang.String DIRECTION_FARTHEST_BOTTOM

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Constant Field Values

FOREGROUND

public static final transient java.lang.String FOREGROUND

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Constant Field Values

BACKGROUND

public static final transient java.lang.String BACKGROUND

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Constant Field Values

PART

public static final transient java.lang.String PART

See Also:

Constant Field Values

SOURCE_KINECT_DEPTH

public static final transient java.lang.String SOURCE_KINECT_DEPTH

See Also:

Constant Field Values

videoProcessor

public transient VideoProcessor videoProcessor

masks

public transient java.util.HashMap<java.lang.String,org.bytedeco.javacpp.opencv_core.IplImage> masks

undockDisplay

public boolean undockDisplay

capturing

public boolean capturing

streamer

public transient VideoStreamer streamer

streamerEnabled

public boolean streamerEnabled

Constructor Detail

OpenCV

public OpenCV(java.lang.String n)

Method Detail

stopService

public void stopService()

Description copied from class: Service

Stops the service. Stops threads.

Specified by:

stopService in interface ServiceInterface

Overrides:

stopService in class Service

publishDisplay

public final boolean publishDisplay(java.lang.Boolean b)

IplImageToBufferedImage

public static java.awt.image.BufferedImage IplImageToBufferedImage(org.bytedeco.javacpp.opencv_core.IplImage src)

BufferedImageToIplImage

public static org.bytedeco.javacpp.opencv_core.IplImage BufferedImageToIplImage(java.awt.image.BufferedImage src)

BufferedImageToFrame

public static org.bytedeco.javacv.Frame BufferedImageToFrame(java.awt.image.BufferedImage src)

publishDisplay

public final SerializableImage publishDisplay(SerializableImage img)

FIXME - input needs to be OpenCVData THIS IS NOT USED ! VideoProcessor NOW DOES OpenCVData - this will return NULL REMOVE !!

publishOpenCVData

public final OpenCVData publishOpenCVData(OpenCVData data)

publishOpenCVData

public void publishOpenCVData(boolean b)

setCameraIndex

public java.lang.Integer setCameraIndex(java.lang.Integer index)

setInputFileName

public java.lang.String setInputFileName(java.lang.String inputFile)

setInputSource

public java.lang.String setInputSource(java.lang.String inputSource)

setFrameGrabberType

public java.lang.String setFrameGrabberType(java.lang.String grabberType)

setDisplayFilter

public void setDisplayFilter(java.lang.String name)

add

public OpenCVData add(SerializableImage image)

add

public OpenCVData add(org.bytedeco.javacv.Frame image)

sizeChange

public java.awt.Dimension sizeChange(java.awt.Dimension d)

publish

public java.lang.String publish(java.lang.String value)

publish

public org.bytedeco.javacpp.opencv_core.CvPoint2D32f publish(org.bytedeco.javacpp.opencv_core.CvPoint2D32f features)

publish

public double[] publish(double[] data)

publish

public org.bytedeco.javacpp.opencv_core.CvPoint publish(org.bytedeco.javacpp.opencv_core.CvPoint point)

publish

public Point2Df publish(Point2Df point)

publish

public java.awt.Rectangle publish(java.awt.Rectangle rectangle)

publish

public java.util.ArrayList<?> publish(java.util.ArrayList<?> polygons)

publish

public ColoredPoint[] publish(ColoredPoint[] points)

publishTemplate

public SerializableImage publishTemplate(java.lang.String source,
                                         java.awt.image.BufferedImage img,
                                         int frameIndex)

publishIplImageTemplate

public org.bytedeco.javacpp.opencv_core.IplImage publishIplImageTemplate(org.bytedeco.javacpp.opencv_core.IplImage img)

stopCapture

public void stopCapture()

capture

public void capture()

stopRecording

public void stopRecording(java.lang.String filename)

setMask

public void setMask(java.lang.String name,
                    org.bytedeco.javacpp.opencv_core.IplImage mask)

addFilter

public OpenCVFilter addFilter(OpenCVFilter filter)

addFilter

public OpenCVFilter addFilter(java.lang.String filterName)

addFilter

public OpenCVFilter addFilter(java.lang.String name,
                              java.lang.String filterType)

removeFilters

public void removeFilters()

removeFilter

public void removeFilter(java.lang.String name)

getFiltersCopy

public java.util.List<OpenCVFilter> getFiltersCopy()

getFilter

public OpenCVFilter getFilter(java.lang.String name)

setFilterState

public void setFilterState(FilterWrapper otherFilter)

Parameters:

otherFilter - - data from remote source This updates the filter with all the non-transient data in a remote copy through a reflective field update. If your filter has JNI members or pointer references it will break, mark all of these.

invokeFilterMethod

public void invokeFilterMethod(java.lang.String filterName,
                               java.lang.String method,
                               java.lang.Object... params)

publishFilterState

public FilterWrapper publishFilterState(FilterWrapper filterWrapper)

publishFilterState

public FilterWrapper publishFilterState(java.lang.String name)

recordOutput

public void recordOutput(java.lang.Boolean b)

recordSingleFrame

public java.lang.String recordSingleFrame()

cvToAWT

public static java.awt.Rectangle cvToAWT(org.bytedeco.javacpp.opencv_core.CvRect rect)

getOpenCVData

public OpenCVData getOpenCVData()

getOpenCVData

public OpenCVData getOpenCVData(java.lang.Integer timeout)

getGoodFeatures

public OpenCVData getGoodFeatures()

getFaceDetect

public OpenCVData getFaceDetect()

findPoint

public static Point2Df findPoint(java.util.ArrayList<Point2Df> data,
                                 java.lang.String direction,
                                 java.lang.Double minValue)

getDisplay

public SerializableImage getDisplay()

getCameraIndex

public int getCameraIndex()

setPipeline

public void setPipeline(java.lang.String pipeline)

setMinDelay

public void setMinDelay(int time)

setRecordingSource

public java.lang.String setRecordingSource(java.lang.String source)

showFrameNumbers

public void showFrameNumbers(boolean b)

showTimestamp

public void showTimestamp(boolean b)

captureFromResourceFile

public void captureFromResourceFile(java.lang.String filename)
                             throws java.io.IOException

Throws:

java.io.IOException

captureFromImageFile

public void captureFromImageFile(java.lang.String filename)

undockDisplay

public boolean undockDisplay(boolean b)

getPossibleFilters

public static java.lang.String[] getPossibleFilters()

publishRecognizedFace

public java.lang.String publishRecognizedFace(java.lang.String value)

publishNoRecognizedFace

public void publishNoRecognizedFace()

getMetaData

public static ServiceType getMetaData()

This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

isStreamerEnabled

public boolean isStreamerEnabled()

setStreamerEnabled

public void setStreamerEnabled(boolean streamerEnabled)

isCapturing

public boolean isCapturing()

main

public static void main(java.lang.String[] args)
                 throws java.lang.Exception

Throws:

java.lang.Exception

saveFrame

public void saveFrame(java.lang.String string)