CamLiveRetriever.java

package org.genericsystem.cv.retriever;

import java.lang.invoke.MethodHandles;
import java.util.Collection;
import java.util.HashMap;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.ScheduledThreadPoolExecutor;
import java.util.concurrent.ThreadPoolExecutor;
import java.util.concurrent.TimeUnit;
import java.util.function.Predicate;
import java.util.stream.Collectors;

import org.genericsystem.cv.AbstractApp;
import org.genericsystem.cv.Calibrated.AngleCalibrated;
import org.genericsystem.cv.Img;
import org.genericsystem.cv.lm.LMHostImpl;
import org.genericsystem.cv.utils.Line;
import org.genericsystem.cv.utils.NativeLibraryLoader;
import org.genericsystem.cv.utils.Tools;
import org.opencv.core.Core;
import org.opencv.core.CvType;
import org.opencv.core.Mat;
import org.opencv.core.MatOfPoint2f;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.core.Size;
import org.opencv.imgproc.Imgproc;
import org.opencv.videoio.VideoCapture;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;

import javafx.scene.image.ImageView;
import javafx.scene.layout.GridPane;

@SuppressWarnings({ "resource" })
public class CamLiveRetriever extends AbstractApp {

	static {
		NativeLibraryLoader.load();
	}

	static final Logger logger = LoggerFactory.getLogger(MethodHandles.lookup().lookupClass());

	private static long counter = 0;

	private static final int STABILIZATION_DELAY = 500;
	private static final int FRAME_DELAY = 100;

	private final ScheduledExecutorService timerFields = new ScheduledThreadPoolExecutor(1, new ThreadPoolExecutor.DiscardPolicy());
	private final VideoCapture capture = new VideoCapture(0);
	private final Fields fields = new Fields();
	private Fields oldFields = null;
	private Map<Field, Field> labelMatches = new HashMap<>();
	private int recoveringCounter = 0;

	private ImgDescriptor stabilizedImgDescriptor;
	private Mat frame = new Mat();
	private boolean stabilizationHasChanged = true;
	private int stabilizationErrors = 0;
	private double[] vp1 = new double[]{5000, 0,1};
	private AngleCalibrated calibrated;
	static final double f = 6.053/0.009;


	public static void main(String[] args) {
		launch(args);
	}

	@Override
	public void stop() throws Exception {
		super.stop();
		timerFields.shutdown();
		timerFields.awaitTermination(5, TimeUnit.SECONDS);
	}

	@Override
	protected void fillGrid(GridPane mainGrid) {

		capture.read(frame);

		//	AngleCalibrated.calibrate(frame.width(), frame.height());
		double[] pp = new double[] { frame.width() / 2, frame.height() / 2 };
		calibrated = new AngleCalibrated(vp1, pp, f);

		ImageView src0 = new ImageView(Tools.mat2jfxImage(frame));
		mainGrid.add(src0, 0, 0);

		ImageView src1 = new ImageView(Tools.mat2jfxImage(frame));
		mainGrid.add(src1, 1, 0);

		//		ImageView src2 = new ImageView(Tools.mat2jfxImage(frame));
		//		mainGrid.add(src2, 1, 1);

		timerFields.scheduleAtFixedRate(() -> onSpace(), 0, STABILIZATION_DELAY, TimeUnit.MILLISECONDS);

		Img display = new Img(frame, false);
		timerFields.scheduleAtFixedRate(() -> {
			try {
				Stats.beginTask("frame");
				capture.read(frame);
				if (frame == null) {
					logger.warn("No frame !");
					return;
				}

				Stats.beginTask("deperspectivation");
				Mat deperspectivGraphy = computeFrameToDeperspectivedHomography(frame);
				Stats.endTask("deperspectivation");
				if (deperspectivGraphy != null) {
					if (stabilizedImgDescriptor == null) {
						stabilizedImgDescriptor = new ImgDescriptor(frame, deperspectivGraphy);
						return;
					}
					if (stabilizationHasChanged && stabilizationErrors > 10) {
						oldFields = oldFields==null?new Fields(fields.getFields()):oldFields;
						recoveringCounter = 0;
						fields.reset();
						stabilizationErrors = 0;
						stabilizedImgDescriptor = new ImgDescriptor(frame, deperspectivGraphy);
						return;
					}

					Stats.beginTask("get img descriptors");
					ImgDescriptor newImgDescriptor = new ImgDescriptor(frame, deperspectivGraphy);
					Stats.endTask("get img descriptors");
					Stats.beginTask("stabilization homography");
					Mat stabilizationHomography = stabilizedImgDescriptor.computeStabilizationGraphy(newImgDescriptor);
					Stats.endTask("stabilization homography");
					if (stabilizationHomography != null) {
						stabilizationErrors = 0;
						Img stabilized = warpPerspective(frame, stabilizationHomography);
						Img stabilizedDisplay = new Img(stabilized.getSrc(), true);
						if (stabilizationHasChanged && recoveringCounter==0) {
							Stats.beginTask("stabilizationHasChanged");
							stabilized = newImgDescriptor.getDeperspectivedImg();
							stabilizedDisplay = new Img(stabilized.getSrc(), true);
							Mat fieldsHomography = new Mat();
							Core.gemm(deperspectivGraphy, stabilizationHomography.inv(), 1, new Mat(), 0, fieldsHomography);
							Stats.beginTask("restabilizeFields");
							fields.restabilizeFields(fieldsHomography);
							System.out.println("fields restabilized");
							Stats.endTask("restabilizeFields");
							stabilizedImgDescriptor = newImgDescriptor;
							stabilizationHomography = deperspectivGraphy;
							stabilizationHasChanged = false;
							Stats.endTask("stabilizationHasChanged");
						}
						Stats.beginTask("consolidate fields");
						fields.consolidate(stabilizedDisplay);						
						Stats.endTask("consolidate fields");
						Stats.beginTask("performOcr");
						//fields.performOcr(stabilized);

						if(oldFields==null){
							fields.performOcr(stabilized);
							fields.consolidateHierarchyLabels();
						}
						else{
							recoveringCounter++;
							labelMatches.putAll(fields.getLabelMatchesWithOldFields(stabilized, oldFields));
							System.out.println(">>>> matches to work with:"+labelMatches.size());
							if(labelMatches.size()>6){
								fields.tryRecoveryfromOldFields(labelMatches, oldFields);
								oldFields = null;
								labelMatches.clear();
								recoveringCounter=0;
							}							
						}
						if(recoveringCounter>5){
							oldFields = null;
							labelMatches.clear();
							recoveringCounter=0;
						}

						Stats.endTask("performOcr");
						Img stabilizedDebug = new Img(stabilizedDisplay.getSrc(), true);
						Stats.beginTask("draw");
						fields.drawFieldsOnStabilizedDebug(stabilizedDebug);
						fields.drawOcrPerspectiveInverse(display, stabilizationHomography.inv(), 1);
						fields.drawFieldsOnStabilized(stabilizedDisplay);
						Stats.endTask("draw");

						src0.setImage(display.toJfxImage());
						src1.setImage(stabilizedDisplay.toJfxImage());
						//src2.setImage(stabilizedDebug.toJfxImage());

						if (++counter % 20 == 0) {
							System.out.println(Stats.getStatsAndReset());
							counter = 0;
						}
					} else {
						stabilizationErrors++;
						logger.warn("Unable to compute a valid stabilization ({} times)", stabilizationErrors);
					}
				}
				//				} else {
				//					logger.warn("Unable to compute a valid deperspectivation");
				//				}
				src0.setImage(display.toJfxImage());
			} catch (Throwable e) {
				logger.warn("Exception while computing layout.", e);
			} finally {
				Stats.endTask("frame");
			}
		}, 100, FRAME_DELAY, TimeUnit.MILLISECONDS);

	}

	@Override
	protected void onSpace() {
		stabilizationHasChanged = true;
	}

	@Override
	protected void onR() {
		fields.reset();
	}

	static Img warpPerspective(Mat frame, Mat homography) {
		Mat dePerspectived = new Mat(frame.size(), CvType.CV_8UC3, Scalar.all(255));
		Imgproc.warpPerspective(frame, dePerspectived, homography, frame.size(), Imgproc.INTER_LINEAR, Core.BORDER_REPLICATE, Scalar.all(255));
		return new Img(dePerspectived, false);
	}

	private Lines houghlinesP(Mat frame) {
		Img grad = new Img(frame, false).morphologyEx(Imgproc.MORPH_GRADIENT, Imgproc.MORPH_RECT, new Size(2, 2)).otsu().morphologyEx(Imgproc.MORPH_CLOSE, Imgproc.MORPH_ELLIPSE, new Size(3, 3));
		return new Lines(grad.houghLinesP(1, Math.PI / 180, 10, 100, 10));
	}

	private Mat computeFrameToDeperspectivedHomography(Mat frame) {		
		Lines lines = houghlinesP(frame);
		if (lines.size() < 8) {
			logger.warn("Not enough lines to compute perspective transformation ({})", lines.size());
			return null;
		}
		lines = lines.filter(line -> distance(vp1, line) < 0.5);
		lines = lines.reduce(20);
		double[] pp = new double[] { frame.width() / 2, frame.height() / 2 };
		Stats.beginTask("levenberg");
		double[] newThetaPhi = new LMHostImpl<>((line, params) -> distance(new AngleCalibrated(params).uncalibrate(pp ,f), line), lines.lines, calibrated.getTethaPhi()).getParams();
		Stats.endTask("levenberg");
		calibrated = calibrated.dump(newThetaPhi, 3);

		double[] vp_1 = calibrated.getCalibratexyz();
		double[] vp_2 = new AngleCalibrated(new double[]{0, 5000, 1}, pp, f).getCalibratexyz();

		//	System.out.println("Levenberg vp : " + vp);

		return findHomography(frame.size(), new double[][] { vp_1, vp_2 }, new double[] { frame.width() / 2, frame.height() / 2 }, f);

	}

	public static Mat findHomography(Size size, double[][] vps, double[] pp, double f) {

		double[][] vps2D = getVp2DFromVps(vps, pp, f);
		//		System.out.println("vps : " + Arrays.deepToString(vps));
		//		System.out.println("vps2D : " + Arrays.deepToString(vps2D));

		double phi = Math.atan2(vps[0][1], vps[0][0]);
		double theta = Math.acos(vps[0][2]);
		double phi2 = Math.atan2(vps[1][1], vps[1][0]);
		double theta2 = Math.acos(vps[1][2]);
		// double phi3 = Math.atan2(vps[2][1], vps[2][0]);
		// double theta3 = Math.acos(vps[2][2]);

		double x = size.width / 4;

		double[] A = new double[] { size.width / 2, size.height / 2, 1 };
		double[] B = new double[] { Math.cos(phi) < 0 ? size.width / 2 - x : size.width / 2 + x, size.height / 2 };
		double[] D = new double[] { size.width / 2, Math.sin(phi2) < 0 ? size.height / 2 - x : size.height / 2 + x, 1 };
		double[] C = new double[] { Math.cos(phi) < 0 ? size.width / 2 - x : size.width / 2 + x, Math.sin(phi2) < 0 ? size.height / 2 - x : size.height / 2 + x };

		//		System.out.println("vp1 (" + phi * 180 / Math.PI + "°, " + theta * 180 / Math.PI + "°)");
		//		System.out.println("vp2 (" + phi2 * 180 / Math.PI + "°, " + theta2 * 180 / Math.PI + "°)");
		// System.out.println("vp3 (" + phi3 * 180 / Math.PI + "°, " + theta3 * 180 / Math.PI + "°)");

		double[] A_ = A;
		double[] B_ = new double[] { size.width / 2 + x * Math.sin(theta) * Math.sin(theta) * Math.cos(phi), size.height / 2 + x * Math.sin(theta) * Math.sin(theta) * Math.sin(phi), 1 };
		double[] D_ = new double[] { size.width / 2 + x * Math.sin(theta2) * Math.sin(theta2) * Math.cos(phi2), size.height / 2 + x * Math.sin(theta2) * Math.sin(theta2) * Math.sin(phi2), 1 };
		double[] C_ = cross2D(cross(B_, vps2D[1]), cross(D_, vps2D[0]));

		// double[] A_ = A;
		// double[] B_ = new double[] { size.width / 2 + x * Math.sin(theta) * vps[0][0], size.height / 2 + x * Math.sin(theta) * vps[0][1], 1 };
		// double[] D_ = new double[] { size.width / 2 + x * Math.sin(theta2) *vps[1][0], size.height / 2 + x * Math.sin(theta2) *vps[1][1], 1 };
		// double[] C_ = cross2D(cross(B_, vps2D[1]), cross(D_, vps2D[0]));

		return Imgproc.getPerspectiveTransform(new MatOfPoint2f(new Point(A_), new Point(B_), new Point(C_), new Point(D_)), new MatOfPoint2f(new Point(A), new Point(B), new Point(C), new Point(D)));
	}

	static double[] getVpFromVp2D(double[] vpImg, double[] pp, double f) {
		double[] vp = new double[] { vpImg[0] / vpImg[2] - pp[0], vpImg[1] / vpImg[2] - pp[1], f };
		if (vp[2] == 0)
			vp[2] = 0.0011;
		double N = Math.sqrt(vp[0] * vp[0] + vp[1] * vp[1] + vp[2] * vp[2]);
		vp[0] *= 1.0 / N;
		vp[1] *= 1.0 / N;
		vp[2] *= 1.0 / N;
		return vp;
	}

	public static double[][] getVp2DFromVps(double vps[][], double[] pp, double f) {
		double[][] result = new double[2][3];
		for (int i = 0; i < 2; i++) {
			result[i][0] = vps[i][0] * f / vps[i][2] + pp[0];
			result[i][1] = vps[i][1] * f / vps[i][2] + pp[1];
			result[i][2] = 1.0;
		}
		return result;
	}

	static double[] cross(double[] a, double b[]) {
		return new double[] { a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2], a[0] * b[1] - a[1] * b[0] };
	}

	static double det(double[] u, double v[], double w[]) {
		return u[0] * v[1] * w[2] + u[2] * v[0] * w[1] + u[1] * v[2] * w[0] - u[2] * v[1] * w[0] - u[1] * v[0] * w[2] - u[0] * v[2] * w[1];
	}

	static double[] cross2D(double[] a, double b[]) {
		return uncalibrate(cross(a, b));
	}
	static double[] uncalibrate(double[] a) {
		return new double[] { a[0] / a[2], a[1] / a[2], 1 };
	}

	private double distance(double[] vp, Line line) {
		double[] lineSegment = getNormalizedLine(line);
		double n0 = -lineSegment[1];
		double n1 = lineSegment[0];
		double nNorm = Math.sqrt(n0 * n0 + n1 * n1);
		double[] midPoint = getMiLine(line);
		double r0, r1;
		r0 = vp[1] * midPoint[2] - midPoint[1];
		r1 = midPoint[0] - vp[0] * midPoint[2];
		double rNorm = Math.sqrt(r0 * r0 + r1 * r1);
		double num = (r0 * n0 + r1 * n1);
		if (num < 0)
			num = -num;

		double d = 0;
		if (nNorm != 0 && rNorm != 0)
			d = num / (nNorm * rNorm);
		// d *= line.size();
		return d;
	}

	private double[] getNormalizedLine(Line line) {
		double a = line.y1 - line.y2;
		double b = line.x2 - line.x1;
		double c = line.y1 * line.x2 - line.x1 * line.y2;
		double norm = Math.sqrt(a * a + b * b + c * c);
		return new double[] { a / norm, b / norm, c / norm };
	}

	private double[] getMiLine(Line line) {
		return new double[] { (line.x1 + line.x2) / 2, (line.y1 + line.y2) / 2, 1d };
	}

	private static Mat findHomography(Point vp, double width, double height) {
		Point bary = new Point(width / 2, height / 2);
		double alpha = Math.atan2((vp.y - bary.y), (vp.x - bary.x));
		if (alpha < -Math.PI / 2 && alpha > -Math.PI)
			alpha = alpha + Math.PI;
		if (alpha < Math.PI && alpha > Math.PI / 2)
			alpha = alpha - Math.PI;

		Point rotatedVp = rotate(bary, alpha, vp)[0];

		Point A = new Point(0, 0);
		Point B = new Point(width, 0);
		Point C = new Point(width, height);
		Point D = new Point(0, height);

		Point AB2 = new Point(width / 2, 0);
		Point CD2 = new Point(width / 2, height);

		Point A_, B_, C_, D_;
		if (rotatedVp.x >= width / 2) {
			A_ = new Line(AB2, rotatedVp).intersection(0);
			D_ = new Line(CD2, rotatedVp).intersection(0);
			C_ = new Line(A_, bary).intersection(new Line(CD2, rotatedVp));
			B_ = new Line(D_, bary).intersection(new Line(AB2, rotatedVp));
		} else {
			B_ = new Line(AB2, rotatedVp).intersection(width);
			C_ = new Line(CD2, rotatedVp).intersection(width);
			A_ = new Line(C_, bary).intersection(new Line(AB2, rotatedVp));
			D_ = new Line(B_, bary).intersection(new Line(CD2, rotatedVp));
		}
		Mat result = Imgproc.getPerspectiveTransform(new MatOfPoint2f(rotate(bary, -alpha, A_, B_, C_, D_)), new MatOfPoint2f(A, B, C, D));
		// System.out.println("Determinant vanishing : " + Core.determinant(result));
		// if (Core.determinant(result) < 0.3)
		// return null;
		return result;
	}

	private static Point[] rotate(Point bary, double alpha, Point... points) {
		Mat matrix = Imgproc.getRotationMatrix2D(bary, alpha / Math.PI * 180, 1);
		MatOfPoint2f results = new MatOfPoint2f();
		Core.transform(new MatOfPoint2f(points), results, matrix);
		return results.toArray();
	}

	public static class Lines extends org.genericsystem.cv.utils.Lines {

		public Lines(Mat src) {
			super(src);
		}

		public Lines(Collection<Line> lines) {
			super(lines);
		}

		public Lines filter(Predicate<Line> predicate) {
			return new Lines(lines.stream().filter(predicate).collect(Collectors.toList()));
		}

		public Lines reduce(int max) {
			if (lines.size() <= max)
				return this;
			Set<Line> newLines = new HashSet<>();
			while (newLines.size() < max)
				newLines.add(lines.get((int) (Math.random() * size())));
			return new Lines(newLines);
		}
	}

}