Update JavaCV version (unfinished, need help)

.dockerignore

@@ -0,0 +1,3 @@
+*.zip
+# .git currently not docker-ignored so that we can do 'git clean' automatically
+dist/

.gitignore

@@ -1,5 +1,6 @@
 *.zip
-visicam.conf
+#visicam.conf
 /build/
 /nbproject/private/
+/lib/javacv-bin/
 /dist/

Dockerfile

@@ -0,0 +1,15 @@
+FROM ubuntu:16.04
+RUN apt-get update
+RUN apt-get -y -q --no-install-recommends install openjdk-8-jdk ant libopencv2.4
+RUN apt-get -y -q --no-install-recommends install curl unzip
+# RUN apt-get -y remove libopencv2.4
+RUN adduser --no-gecos --disabled-password visicam
+ADD . /home/visicam
+RUN chown -R visicam /home/visicam
+WORKDIR /home/visicam
+USER visicam
+# fetch javaCV if it wasn't downloaded yet
+RUN test -d lib/javacv-bin/ || ./lib/fetch-javacv.sh
+RUN ant clean && ant
+EXPOSE 8080
+CMD ant run

build_docker.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+set -e
+# Run this script, then the visicam server will be opened on port 8080.
+sudo docker build -t visicam .
+sudo docker run -p 8080:8080 --rm -it visicam

lib/fetch-javacv.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+cd "$(dirname "$0")"
+URL=https://search.maven.org/remotecontent?filepath=org/bytedeco/javacv-platform/1.3.2/javacv-platform-1.3.2-bin.zip
+#URL=https://search.maven.org/remotecontent?filepath=org/bytedeco/javacv/1.2/javacv-1.2-bin.zip
+curl $URL > javacv.zip
+rm -r javacv-bin/
+unzip javacv.zip

lib/nblibraries.properties

@@ -1,4 +1,4 @@
 libs.CopyLibs.classpath=\
     ${base}/CopyLibs/org-netbeans-modules-java-j2seproject-copylibstask.jar
 libs.CopyLibs.displayName=CopyLibs Task
-libs.CopyLibs.prop-version=1.0
+libs.CopyLibs.prop-version=2.0

nbproject/genfiles.properties

@@ -1,8 +1,8 @@
 build.xml.data.CRC32=782127a7
-build.xml.script.CRC32=1898b009
-build.xml.stylesheet.CRC32=28e38971@1.53.1.46
+build.xml.script.CRC32=5c4ea007
+build.xml.stylesheet.CRC32=8064a381@1.75.2.48
 # This file is used by a NetBeans-based IDE to track changes in generated files such as build-impl.xml.
 # Do not edit this file. You may delete it but then the IDE will never regenerate such files for you.
 nbproject/build-impl.xml.data.CRC32=782127a7
-nbproject/build-impl.xml.script.CRC32=53b88f11
-nbproject/build-impl.xml.stylesheet.CRC32=6ddba6b6@1.53.1.46
+nbproject/build-impl.xml.script.CRC32=c9bd417e
+nbproject/build-impl.xml.stylesheet.CRC32=876e7a8f@1.75.2.48

nbproject/project.properties

@@ -5,6 +5,7 @@ annotation.processing.run.all.processors=true
 annotation.processing.source.output=${build.generated.sources.dir}/ap-source-output
 application.title=VisiCam
 application.vendor=thommy
+auxiliary.org-netbeans-spi-editor-hints-projects.perProjectHintSettingsFile=nbproject/cfg_hints.xml
 build.classes.dir=${build.dir}/classes
 build.classes.excludes=**/*.java,**/*.form
 # This directory is removed when the project is cleaned:
@@ -29,29 +30,39 @@ endorsed.classpath=
 excludes=
 file.reference.gson-2.2.2.jar=lib/gson-2.2.2.jar
 file.reference.javacpp.jar=lib/javacv-bin/javacpp.jar
-file.reference.javacv-android-arm.jar=lib/javacv-bin/javacv-android-arm.jar
-file.reference.javacv-linux-arm.jar=lib/javacv-pi/javacv-linux-arm.jar
-file.reference.javacv-linux-x86.jar=lib/javacv-bin/javacv-linux-x86.jar
-file.reference.javacv-linux-x86_64.jar=lib/javacv-bin/javacv-linux-x86_64.jar
-file.reference.javacv-macosx-x86_64.jar=lib/javacv-bin/javacv-macosx-x86_64.jar
-file.reference.javacv-windows-x86.jar=lib/javacv-bin/javacv-windows-x86.jar
-file.reference.javacv-windows-x86_64.jar=lib/javacv-bin/javacv-windows-x86_64.jar
+file.reference.javacv-platform.jar=lib/javacv-bin/javacv-platform.jar
 file.reference.javacv.jar=lib/javacv-bin/javacv.jar
+file.reference.opencv-android-arm.jar=lib/javacv-bin/opencv-android-arm.jar
+file.reference.opencv-android-x86.jar=lib/javacv-bin/opencv-android-x86.jar
+file.reference.opencv-linux-armhf.jar=lib/javacv-bin/opencv-linux-armhf.jar
+file.reference.opencv-linux-ppc64le.jar=lib/javacv-bin/opencv-linux-ppc64le.jar
+file.reference.opencv-linux-x86.jar=lib/javacv-bin/opencv-linux-x86.jar
+file.reference.opencv-linux-x86_64.jar=lib/javacv-bin/opencv-linux-x86_64.jar
+file.reference.opencv-macosx-x86_64.jar=lib/javacv-bin/opencv-macosx-x86_64.jar
+file.reference.opencv-platform.jar=lib/javacv-bin/opencv-platform.jar
+file.reference.opencv-windows-x86.jar=lib/javacv-bin/opencv-windows-x86.jar
+file.reference.opencv-windows-x86_64.jar=lib/javacv-bin/opencv-windows-x86_64.jar
+file.reference.opencv.jar=lib/javacv-bin/opencv.jar
 includes=**
 jar.archive.disabled=${jnlp.enabled}
 jar.compress=false
 jar.index=${jnlp.enabled}
 javac.classpath=\
     ${file.reference.javacpp.jar}:\
-    ${file.reference.javacv-android-arm.jar}:\
-    ${file.reference.javacv-linux-x86.jar}:\
-    ${file.reference.javacv-linux-x86_64.jar}:\
-    ${file.reference.javacv-macosx-x86_64.jar}:\
-    ${file.reference.javacv-windows-x86.jar}:\
-    ${file.reference.javacv-windows-x86_64.jar}:\
     ${file.reference.javacv.jar}:\
-    ${file.reference.javacv-linux-arm.jar}:\
-    ${file.reference.gson-2.2.2.jar}
+    ${file.reference.gson-2.2.2.jar}:\
+    ${file.reference.javacv-platform.jar}:\
+    ${file.reference.opencv-android-arm.jar}:\
+    ${file.reference.opencv-android-x86.jar}:\
+    ${file.reference.opencv-linux-armhf.jar}:\
+    ${file.reference.opencv-linux-ppc64le.jar}:\
+    ${file.reference.opencv-linux-x86.jar}:\
+    ${file.reference.opencv-linux-x86_64.jar}:\
+    ${file.reference.opencv-macosx-x86_64.jar}:\
+    ${file.reference.opencv-platform.jar}:\
+    ${file.reference.opencv-windows-x86.jar}:\
+    ${file.reference.opencv-windows-x86_64.jar}:\
+    ${file.reference.opencv.jar}
 # Space-separated list of extra javac options
 javac.compilerargs=
 javac.deprecation=false
@@ -85,6 +96,10 @@ jnlp.signing=
 jnlp.signing.alias=
 jnlp.signing.keystore=
 main.class=com.t_oster.visicam.VisiCam
+# Optional override of default Codebase manifest attribute, use to prevent RIAs from being repurposed
+manifest.custom.codebase=
+# Optional override of default Permissions manifest attribute (supported values: sandbox, all-permissions)
+manifest.custom.permissions=
 manifest.file=manifest.mf
 meta.inf.dir=${src.dir}/META-INF
 mkdist.disabled=false

src/com/t_oster/visicam/CameraController.java

@@ -1,17 +1,14 @@
 package com.t_oster.visicam;
 
-import com.googlecode.javacv.FrameGrabber.Exception;
-import com.googlecode.javacv.OpenCVFrameGrabber;
-import static com.googlecode.javacv.cpp.opencv_calib3d.*;
-import static com.googlecode.javacv.cpp.opencv_core.*;
-import com.googlecode.javacv.cpp.opencv_core.CvMat;
-import com.googlecode.javacv.cpp.opencv_core.CvMemStorage;
-import com.googlecode.javacv.cpp.opencv_core.CvPoint;
-import com.googlecode.javacv.cpp.opencv_core.CvPoint2D32f;
-import com.googlecode.javacv.cpp.opencv_core.CvPoint3D32f;
-import com.googlecode.javacv.cpp.opencv_core.CvSeq;
-import com.googlecode.javacv.cpp.opencv_core.IplImage;
-import static com.googlecode.javacv.cpp.opencv_imgproc.*;
+
+import org.bytedeco.javacv.FrameGrabber.Exception;
+import org.bytedeco.javacv.OpenCVFrameGrabber;
+import org.bytedeco.javacpp.opencv_imgproc;
+
+import static org.bytedeco.javacpp.opencv_calib3d.*;
+import static org.bytedeco.javacpp.opencv_core.*;
+import org.bytedeco.javacpp.opencv_core.CvMat;
+import static org.bytedeco.javacpp.opencv_imgproc.*;
 import java.awt.Graphics2D;
 import java.awt.Point;
 import java.awt.Rectangle;
@@ -30,12 +27,16 @@
 import java.nio.file.Paths;
 import java.nio.file.Path;
 import javax.imageio.ImageIO;
+import org.bytedeco.javacpp.indexer.FloatRawIndexer;
+import org.bytedeco.javacv.Frame;
+import org.bytedeco.javacv.Java2DFrameConverter;
+import org.bytedeco.javacv.OpenCVFrameConverter;
 
 /**
  *
  * @author Thomas Oster <thomas.oster@rwth-aachen.de>
  */
-public class CameraController 
+public class CameraController
 {
   private volatile CvMat homographyMatrix = null;
   private final Boolean synchronizedCamera = false;                          // Dummy variable only used for camera access synchronization
@@ -45,6 +46,22 @@ public class CameraController
   private final Boolean visicamRPiGPUFileLockSynchronization = false;        // Dummy variable only used for file lock synchronization
   // visicamRPiGPU integration end
 
+  private final Java2DFrameConverter frameConverter = new Java2DFrameConverter();
+  private final OpenCVFrameConverter.ToMat matConverter = new OpenCVFrameConverter.ToMat();
+
+
+  private Mat toMat(BufferedImage b)
+  {
+      return matConverter.convert(frameConverter.convert(b));
+  }
+
+  private BufferedImage toBufferedImage(Mat i)
+  {
+      return frameConverter.convert(matConverter.convert(i));
+  }
+
+
+
   public InputStream toJpegStream(final BufferedImage img) throws IOException
   {
     ByteArrayOutputStream bos = new ByteArrayOutputStream();
@@ -103,8 +120,8 @@ else if (command == null || "".equals(command))
             grabber.setImageHeight(height);
             grabber.setImageWidth(width);
             grabber.start();
-            IplImage img = grabber.grab();
-            result = img.getBufferedImage();
+            Frame img = grabber.grab();
+            result = frameConverter.convert(img);
             grabber.stop();
         }
       }
@@ -152,31 +169,30 @@ public BufferedImage getDummyImage(String filename, String txt) throws IOExcepti
   public RelativePoint findMarker(BufferedImage input, RelativeRectangle roi)
   {
     Rectangle abs = roi.toAbsoluteRectangle(input.getWidth(), input.getHeight());
-    IplImage in = IplImage.createFrom(input.getSubimage(abs.x, abs.y, abs.width, abs.height));
-    IplImage gray = IplImage.create(in.width(), in.height(), in.depth(), 1);
-    cvCvtColor(in, gray, CV_BGR2GRAY);
-    cvErode(gray, gray, null, 1);
-    cvErode(gray, gray, null, 1);
-    cvDilate(gray, gray, null, 1);
-    cvDilate(gray, gray, null, 1);
-    cvErode(gray, gray, null, 1);
-    cvDilate(gray, gray, null, 1);
-    CvMemStorage storage = cvCreateMemStorage(0);
+    Mat in = toMat(input.getSubimage(abs.x, abs.y, abs.width, abs.height));
+    cvtColor(in, in, CV_BGR2GRAY);
+    Mat k = opencv_imgproc.getStructuringElement(opencv_imgproc.MORPH_RECT, new Size(2,2));
+    opencv_imgproc.erode(in, in, k);
+    opencv_imgproc.erode(in, in, k);
+    opencv_imgproc.dilate(in, in, k);
+    opencv_imgproc.dilate(in, in, k);
+    opencv_imgproc.erode(in, in, k);
+    opencv_imgproc.dilate(in, in, k);
     double minDist = 10;
     double cannyThreshold = 50;
     double minVotes = 15;
     int minRad = 5;
     int maxRad = 25;
-    CvSeq circles = cvHoughCircles(gray, storage, CV_HOUGH_GRADIENT, 1, minDist, cannyThreshold, minVotes, minRad, maxRad);
-    if (circles.total() >= 1)
+    Mat circles = new Mat();
+    HoughCircles(in, circles, CV_HOUGH_GRADIENT, 1, minDist, cannyThreshold, minVotes, minRad, maxRad);
+    if (circles.cols() >= 1)
     {
-      CvPoint3D32f point = new CvPoint3D32f(cvGetSeqElem(circles, 0));
-      CvPoint center = cvPointFrom32f(new CvPoint2D32f(point.x(), point.y()));
-      RelativePoint result = new RelativePoint((center.x()+abs.x)/(double)input.getWidth(), (center.y()+abs.y)/(double)input.getHeight());
-      cvReleaseMemStorage(storage);
+        FloatRawIndexer i = circles.createIndexer();
+        double x = i.get(0,0);
+        double y = i.get(0,1);
+      RelativePoint result = new RelativePoint((x+abs.x)/(double)input.getWidth(), (y+abs.y)/(double)input.getHeight());
       return result;
     }
-    cvReleaseMemStorage(storage);
     return null;
   }
 
@@ -198,9 +214,9 @@ public BufferedImage applyHomography(BufferedImage img)
         {
             if (homographyMatrix != null)
             {
-                IplImage in = IplImage.createFrom(img);
-                cvWarpPerspective(in, in, homographyMatrix);
-                return in.getBufferedImage();
+                Mat in = toMat(img);
+                warpPerspective(in, in, cvarrToMat(homographyMatrix), in.size());
+                return toBufferedImage(in);
             }
             else
             {
@@ -231,7 +247,7 @@ public void updateHomographyMatrix(BufferedImage img, RelativePoint[] markerPosi
     dst.put(3, 0, 1, img.getHeight());
 
     CvMat localHomographyMatrix = CvMat.create(3, 3);
-    cvFindHomography(src, dst, localHomographyMatrix, CV_RANSAC, 1, null);
+    cvFindHomography(src, dst, localHomographyMatrix); // TODO important parameters (CV_RANSAC) were removed for testing
 
     // Write matrix values to file for visicamRPiGPU if needed
     if (visicamRPiGPUEnabled)

src/com/t_oster/visicam/VisiCamServer.java

@@ -5,7 +5,7 @@
 package com.t_oster.visicam;
 
 import com.google.gson.Gson;
-import com.googlecode.javacv.FrameGrabber;
+import org.bytedeco.javacv.FrameGrabber;
 import gr.ktogias.NanoHTTPD;
 import java.awt.BasicStroke;
 import java.awt.Color;

test/.gitignore

@@ -0,0 +1 @@
+dummyCapture.jpg

test/dummyCapture.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+cd $(dirname $0)
+sleep 0.4
+touch dummyCapture.jpg
+cmp dummyCapture.jpg dummy1.jpg && cp dummy2.jpg dummyCapture.jpg && exit 0
+cmp dummyCapture.jpg dummy2.jpg && cp dummy3.jpg dummyCapture.jpg && exit 0
+cmp dummyCapture.jpg dummy3.jpg && cp dummy4.jpg dummyCapture.jpg && exit 0
+cp dummy1.jpg dummyCapture.jpg
+

visicam.conf

@@ -0,0 +1,32 @@
+#VisiCam Configuration
+#Sat Jul 15 21:42:07 CEST 2017
+markerSearchfields[3][y]=0.6133333333333333
+markerSearchfields[2][x]=0
+markerSearchfields[1][height]=0.40444444444444444
+markerSearchfields[2][width]=0.34125
+lockInsecureSettings=false
+captureCommand=./test/dummyCapture.sh
+markerSearchfields[1][width]=0.29
+markerSearchfields[0][y]=0.17777777777777778
+visicamRPiGPUBinaryPath=
+markerSearchfields[2][y]=0.6088888888888889
+markerSearchfields[1][x]=0.71
+markerSearchfields[2][height]=0.39111111111111113
+inputHeight=1050
+visicamRPiGPUInactivitySeconds=
+refreshSeconds=10
+markerSearchfields[3][width]=0.3125
+markerSearchfields[0][height]=0.06888888888888889
+markerSearchfields[0][width]=0.095
+cameraIndex=0
+markerSearchfields[3][x]=0.6875
+visicamRPiGPUMatrixPath=
+outputHeight=1050
+captureResult=./test/dummyCapture.jpg
+markerSearchfields[1][y]=0
+markerSearchfields[0][x]=0.08875
+visicamRPiGPUImageProcessedPath=
+inputWidth=1680
+markerSearchfields[3][height]=0.38666666666666666
+visicamRPiGPUImageOriginalPath=
+outputWidth=1680