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ObjectNavFragment.java
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ObjectNavFragment.java
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package org.openbot.objectNav;
import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Matrix;
import android.graphics.Paint;
import android.graphics.RectF;
import android.graphics.Typeface;
import android.os.Bundle;
import android.os.Handler;
import android.os.HandlerThread;
import android.os.SystemClock;
import android.util.TypedValue;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.widget.AdapterView;
import android.widget.ArrayAdapter;
import android.widget.Toast;
import androidx.annotation.NonNull;
import androidx.annotation.Nullable;
import androidx.camera.core.ImageProxy;
import androidx.navigation.Navigation;
import com.google.android.material.bottomsheet.BottomSheetBehavior;
import java.io.IOException;
import java.util.LinkedList;
import java.util.List;
import java.util.Locale;
import java.util.concurrent.TimeUnit;
import org.jetbrains.annotations.NotNull;
import org.openbot.R;
import org.openbot.common.CameraFragment;
import org.openbot.databinding.FragmentObjectNavBinding;
import org.openbot.env.BorderedText;
import org.openbot.env.ImageUtils;
import org.openbot.tflite.Detector;
import org.openbot.tflite.Model;
import org.openbot.tflite.Network;
import org.openbot.tracking.MultiBoxTracker;
import org.openbot.utils.Constants;
import org.openbot.utils.Enums;
import org.openbot.utils.PermissionUtils;
import org.openbot.vehicle.Control;
import timber.log.Timber;
public class ObjectNavFragment extends CameraFragment {
private FragmentObjectNavBinding binding;
private Handler handler;
private HandlerThread handlerThread;
private long lastProcessingTimeMs;
private boolean computingNetwork = false;
private static float MINIMUM_CONFIDENCE_TF_OD_API = 0.5f;
private static final float TEXT_SIZE_DIP = 10;
private Detector detector;
private Matrix frameToCropTransform;
private Bitmap croppedBitmap;
private int sensorOrientation;
private Bitmap cropCopyBitmap;
private Matrix cropToFrameTransform;
private MultiBoxTracker tracker;
private Model model;
private Network.Device device = Network.Device.CPU;
private int numThreads = -1;
private String classType = "person";
@Override
public void onCreate(@Nullable Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
}
@Override
public View onCreateView(
@NotNull LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
// Inflate the layout for this fragment
binding = FragmentObjectNavBinding.inflate(inflater, container, false);
return inflateFragment(binding, inflater, container);
}
@Override
public void onViewCreated(@NonNull View view, @Nullable Bundle savedInstanceState) {
super.onViewCreated(view, savedInstanceState);
binding.confidenceValue.setText((int) (MINIMUM_CONFIDENCE_TF_OD_API * 100) + "%");
binding.plusConfidence.setOnClickListener(
v -> {
String trimConfVaue = binding.confidenceValue.getText().toString().trim();
int confValue = Integer.parseInt(trimConfVaue.substring(0, trimConfVaue.length() - 1));
if (confValue > 100) return;
confValue += 5;
binding.confidenceValue.setText(confValue + "%");
MINIMUM_CONFIDENCE_TF_OD_API = confValue / 100f;
});
binding.minusConfidence.setOnClickListener(
v -> {
String trimConfVaue = binding.confidenceValue.getText().toString().trim();
int confValue = Integer.parseInt(trimConfVaue.substring(0, trimConfVaue.length() - 1));
if (confValue < 5) return;
confValue -= 5;
binding.confidenceValue.setText(confValue + "%");
MINIMUM_CONFIDENCE_TF_OD_API = confValue / 100f;
});
binding.controllerContainer.speedInfo.setText(getString(R.string.speedInfo, "---,---"));
classType = preferencesManager.getObjectType();
binding.classType.setOnItemSelectedListener(
new AdapterView.OnItemSelectedListener() {
@Override
public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
classType = parent.getItemAtPosition(position).toString();
preferencesManager.setObjectType(classType);
}
@Override
public void onNothingSelected(AdapterView<?> parent) {}
});
binding.deviceSpinner.setSelection(preferencesManager.getDevice());
setNumThreads(preferencesManager.getNumThreads());
binding.threads.setText(String.valueOf(getNumThreads()));
binding.cameraToggle.setOnClickListener(v -> toggleCamera());
List<String> models =
getModelNames(f -> f.type.equals(Model.TYPE.DETECTOR) && f.pathType != Model.PATH_TYPE.URL);
initModelSpinner(binding.modelSpinner, models, preferencesManager.getObjectNavModel());
setAnalyserResolution(Enums.Preview.HD.getValue());
binding.deviceSpinner.setOnItemSelectedListener(
new AdapterView.OnItemSelectedListener() {
@Override
public void onItemSelected(AdapterView<?> parent, View view, int position, long id) {
String selected = parent.getItemAtPosition(position).toString();
setDevice(Network.Device.valueOf(selected.toUpperCase()));
}
@Override
public void onNothingSelected(AdapterView<?> parent) {}
});
binding.plus.setOnClickListener(
v -> {
String threads = binding.threads.getText().toString().trim();
int numThreads = Integer.parseInt(threads);
if (numThreads >= 9) return;
setNumThreads(++numThreads);
binding.threads.setText(String.valueOf(numThreads));
});
binding.minus.setOnClickListener(
v -> {
String threads = binding.threads.getText().toString().trim();
int numThreads = Integer.parseInt(threads);
if (numThreads == 1) return;
setNumThreads(--numThreads);
binding.threads.setText(String.valueOf(numThreads));
});
BottomSheetBehavior.from(binding.aiBottomSheet).setState(BottomSheetBehavior.STATE_EXPANDED);
mViewModel
.getUsbStatus()
.observe(getViewLifecycleOwner(), status -> binding.usbToggle.setChecked(status));
binding.usbToggle.setChecked(vehicle.isUsbConnected());
binding.usbToggle.setOnClickListener(
v -> {
binding.usbToggle.setChecked(vehicle.isUsbConnected());
Navigation.findNavController(requireView()).navigate(R.id.open_settings_fragment);
});
setSpeedMode(Enums.SpeedMode.getByID(preferencesManager.getSpeedMode()));
setControlMode(Enums.ControlMode.getByID(preferencesManager.getControlMode()));
setDriveMode(Enums.DriveMode.getByID(preferencesManager.getDriveMode()));
binding.controllerContainer.controlMode.setOnClickListener(
v -> {
Enums.ControlMode controlMode =
Enums.ControlMode.getByID(preferencesManager.getControlMode());
if (controlMode != null) setControlMode(Enums.switchControlMode(controlMode));
});
binding.controllerContainer.driveMode.setOnClickListener(
v -> setDriveMode(Enums.switchDriveMode(vehicle.getDriveMode())));
binding.controllerContainer.speedMode.setOnClickListener(
v ->
setSpeedMode(
Enums.toggleSpeed(
Enums.Direction.CYCLIC.getValue(),
Enums.SpeedMode.getByID(preferencesManager.getSpeedMode()))));
binding.autoSwitch.setOnClickListener(v -> setNetworkEnabled(binding.autoSwitch.isChecked()));
}
private void updateCropImageInfo() {
// Timber.i("%s x %s",getPreviewSize().getWidth(), getPreviewSize().getHeight());
// Timber.i("%s x %s",getMaxAnalyseImageSize().getWidth(),
// getMaxAnalyseImageSize().getHeight());
frameToCropTransform = null;
sensorOrientation = 90 - ImageUtils.getScreenOrientation(requireActivity());
final float textSizePx =
TypedValue.applyDimension(
TypedValue.COMPLEX_UNIT_DIP, TEXT_SIZE_DIP, getResources().getDisplayMetrics());
BorderedText borderedText = new BorderedText(textSizePx);
borderedText.setTypeface(Typeface.MONOSPACE);
tracker = new MultiBoxTracker(requireContext());
Timber.i("Camera orientation relative to screen canvas: %d", sensorOrientation);
recreateNetwork(getModel(), getDevice(), getNumThreads());
if (detector == null) {
Timber.e("No network on preview!");
return;
}
binding.trackingOverlay.addCallback(
canvas -> {
tracker.draw(canvas);
// tracker.drawDebug(canvas);
});
tracker.setFrameConfiguration(
getMaxAnalyseImageSize().getWidth(),
getMaxAnalyseImageSize().getHeight(),
sensorOrientation);
}
protected void onInferenceConfigurationChanged() {
computingNetwork = false;
if (croppedBitmap == null) {
// Defer creation until we're getting camera frames.
return;
}
final Network.Device device = getDevice();
final Model model = getModel();
final int numThreads = getNumThreads();
runInBackground(() -> recreateNetwork(model, device, numThreads));
}
private void recreateNetwork(Model model, Network.Device device, int numThreads) {
if (model == null) return;
tracker.clearTrackedObjects();
if (detector != null) {
Timber.d("Closing detector.");
detector.close();
detector = null;
}
try {
Timber.d("Creating detector (model=%s, device=%s, numThreads=%d)", model, device, numThreads);
detector = Detector.create(requireActivity(), model, device, numThreads);
croppedBitmap =
Bitmap.createBitmap(
detector.getImageSizeX(), detector.getImageSizeY(), Bitmap.Config.ARGB_8888);
frameToCropTransform =
ImageUtils.getTransformationMatrix(
getMaxAnalyseImageSize().getWidth(),
getMaxAnalyseImageSize().getHeight(),
croppedBitmap.getWidth(),
croppedBitmap.getHeight(),
sensorOrientation,
detector.getCropRect(),
detector.getMaintainAspect());
cropToFrameTransform = new Matrix();
frameToCropTransform.invert(cropToFrameTransform);
requireActivity()
.runOnUiThread(
() -> {
ArrayAdapter<String> adapter =
new ArrayAdapter<>(
getContext(),
android.R.layout.simple_dropdown_item_1line,
detector.getLabels());
binding.classType.setAdapter(adapter);
binding.classType.setSelection(
detector.getLabels().indexOf(preferencesManager.getObjectType()));
binding.inputResolution.setText(
String.format("%dx%d", detector.getImageSizeX(), detector.getImageSizeY()));
});
} catch (IllegalArgumentException | IOException e) {
String msg = "Failed to create network.";
Timber.e(e, msg);
requireActivity()
.runOnUiThread(
() ->
Toast.makeText(
requireContext().getApplicationContext(),
e.getMessage(),
Toast.LENGTH_LONG)
.show());
}
}
@Override
public synchronized void onResume() {
handlerThread = new HandlerThread("inference");
handlerThread.start();
handler = new Handler(handlerThread.getLooper());
super.onResume();
}
@Override
public synchronized void onPause() {
handlerThread.quitSafely();
try {
handlerThread.join();
handlerThread = null;
handler = null;
} catch (final InterruptedException e) {
e.printStackTrace();
}
super.onPause();
}
protected synchronized void runInBackground(final Runnable r) {
if (handler != null) {
handler.post(r);
}
}
@Override
protected void processUSBData(String data) {
binding.controllerContainer.speedInfo.setText(
getString(
R.string.speedInfo,
String.format(
Locale.US, "%3.0f,%3.0f", vehicle.getLeftWheelRpm(), vehicle.getRightWheelRpm())));
}
@Override
protected void processControllerKeyData(String commandType) {
switch (commandType) {
case Constants.CMD_DRIVE:
binding.controllerContainer.controlInfo.setText(
String.format(Locale.US, "%.0f,%.0f", vehicle.getLeftSpeed(), vehicle.getRightSpeed()));
break;
case Constants.CMD_NETWORK:
setNetworkEnabledWithAudio(!binding.autoSwitch.isChecked());
break;
}
}
private void setNetworkEnabledWithAudio(boolean b) {
setNetworkEnabled(b);
if (b) {
audioPlayer.play(voice, "network_enabled.mp3");
runInBackground(
() -> {
try {
TimeUnit.MILLISECONDS.sleep(lastProcessingTimeMs);
vehicle.setControl(0, 0);
requireActivity()
.runOnUiThread(() -> binding.inferenceInfo.setText(R.string.time_fps));
} catch (InterruptedException e) {
Timber.e(e, "Got interrupted.");
}
});
} else audioPlayer.playDriveMode(voice, vehicle.getDriveMode());
}
private void setNetworkEnabled(boolean b) {
binding.autoSwitch.setChecked(b);
binding.controllerContainer.controlMode.setEnabled(!b);
binding.controllerContainer.driveMode.setEnabled(!b);
binding.controllerContainer.speedInfo.setEnabled(!b);
binding.controllerContainer.controlMode.setAlpha(b ? 0.5f : 1f);
binding.controllerContainer.driveMode.setAlpha(b ? 0.5f : 1f);
binding.controllerContainer.speedMode.setAlpha(b ? 0.5f : 1f);
if (!b) handler.postDelayed(() -> vehicle.setControl(0, 0), 500);
}
private long frameNum = 0;
@Override
protected void processFrame(Bitmap bitmap, ImageProxy image) {
if (tracker == null) updateCropImageInfo();
++frameNum;
if (binding != null && binding.autoSwitch.isChecked()) {
// If network is busy, return.
if (computingNetwork) {
return;
}
computingNetwork = true;
Timber.i("Putting image " + frameNum + " for detection in bg thread.");
runInBackground(
() -> {
final Canvas canvas = new Canvas(croppedBitmap);
canvas.drawBitmap(bitmap, frameToCropTransform, null);
if (detector != null) {
Timber.i("Running detection on image %s", frameNum);
final long startTime = SystemClock.elapsedRealtime();
final List<Detector.Recognition> results =
detector.recognizeImage(croppedBitmap, classType);
lastProcessingTimeMs = SystemClock.elapsedRealtime() - startTime;
if (!results.isEmpty())
Timber.i(
"Object: "
+ results.get(0).getLocation().centerX()
+ ", "
+ results.get(0).getLocation().centerY()
+ ", "
+ results.get(0).getLocation().height()
+ ", "
+ results.get(0).getLocation().width());
cropCopyBitmap = Bitmap.createBitmap(croppedBitmap);
final Canvas canvas1 = new Canvas(cropCopyBitmap);
final Paint paint = new Paint();
paint.setColor(Color.RED);
paint.setStyle(Paint.Style.STROKE);
paint.setStrokeWidth(2.0f);
final List<Detector.Recognition> mappedRecognitions = new LinkedList<>();
for (final Detector.Recognition result : results) {
final RectF location = result.getLocation();
if (location != null && result.getConfidence() >= MINIMUM_CONFIDENCE_TF_OD_API) {
canvas1.drawRect(location, paint);
cropToFrameTransform.mapRect(location);
result.setLocation(location);
mappedRecognitions.add(result);
}
}
tracker.trackResults(mappedRecognitions, frameNum);
handleDriveCommand(tracker.updateTarget());
binding.trackingOverlay.postInvalidate();
}
computingNetwork = false;
});
if (lastProcessingTimeMs > 0)
requireActivity()
.runOnUiThread(
() ->
binding.inferenceInfo.setText(
String.format(Locale.US, "%.1f fps", 1000.f / lastProcessingTimeMs)));
}
}
protected void handleDriveCommand(Control control) {
vehicle.setControl(control);
float left = vehicle.getLeftSpeed();
float right = vehicle.getRightSpeed();
requireActivity()
.runOnUiThread(
() ->
binding.controllerContainer.controlInfo.setText(
String.format(Locale.US, "%.0f,%.0f", left, right)));
}
protected Model getModel() {
return model;
}
@Override
protected void setModel(Model model) {
if (this.model != model) {
Timber.d("Updating model: %s", model);
this.model = model;
preferencesManager.setObjectNavModel(model.name);
onInferenceConfigurationChanged();
}
}
protected Network.Device getDevice() {
return device;
}
private void setDevice(Network.Device device) {
if (this.device != device) {
Timber.d("Updating device: %s", device);
this.device = device;
final boolean threadsEnabled = device == Network.Device.CPU;
binding.plus.setEnabled(threadsEnabled);
binding.minus.setEnabled(threadsEnabled);
binding.threads.setText(threadsEnabled ? String.valueOf(numThreads) : "N/A");
if (threadsEnabled) binding.threads.setTextColor(Color.BLACK);
else binding.threads.setTextColor(Color.GRAY);
preferencesManager.setDevice(device.ordinal());
onInferenceConfigurationChanged();
}
}
protected int getNumThreads() {
return numThreads;
}
private void setNumThreads(int numThreads) {
if (this.numThreads != numThreads) {
Timber.d("Updating numThreads: %s", numThreads);
this.numThreads = numThreads;
preferencesManager.setNumThreads(numThreads);
onInferenceConfigurationChanged();
}
}
private String[] getModelFiles() {
return requireActivity().getFilesDir().list((dir1, name) -> name.endsWith(".tflite"));
}
private void setSpeedMode(Enums.SpeedMode speedMode) {
if (speedMode != null) {
switch (speedMode) {
case SLOW:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_low);
break;
case NORMAL:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_medium);
break;
case FAST:
binding.controllerContainer.speedMode.setImageResource(R.drawable.ic_speed_high);
break;
}
Timber.d("Updating controlSpeed: %s", speedMode);
preferencesManager.setSpeedMode(speedMode.getValue());
vehicle.setSpeedMultiplier(speedMode.getValue());
}
}
private void setControlMode(Enums.ControlMode controlMode) {
if (controlMode != null) {
switch (controlMode) {
case GAMEPAD:
binding.controllerContainer.controlMode.setImageResource(R.drawable.ic_controller);
disconnectPhoneController();
break;
case PHONE:
binding.controllerContainer.controlMode.setImageResource(R.drawable.ic_phone);
if (!PermissionUtils.hasControllerPermissions(requireActivity()))
requestPermissionLauncher.launch(Constants.PERMISSIONS_CONTROLLER);
else connectPhoneController();
break;
}
Timber.d("Updating controlMode: %s", controlMode);
preferencesManager.setControlMode(controlMode.getValue());
}
}
protected void setDriveMode(Enums.DriveMode driveMode) {
if (driveMode != null) {
switch (driveMode) {
case DUAL:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_dual);
break;
case GAME:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_game);
break;
case JOYSTICK:
binding.controllerContainer.driveMode.setImageResource(R.drawable.ic_joystick);
break;
}
Timber.d("Updating driveMode: %s", driveMode);
vehicle.setDriveMode(driveMode);
preferencesManager.setDriveMode(driveMode.getValue());
}
}
private void connectPhoneController() {
phoneController.connect(requireContext());
Enums.DriveMode oldDriveMode = currentDriveMode;
// Currently only dual drive mode supported
setDriveMode(Enums.DriveMode.DUAL);
binding.controllerContainer.driveMode.setAlpha(0.5f);
binding.controllerContainer.driveMode.setEnabled(false);
preferencesManager.setDriveMode(oldDriveMode.getValue());
}
private void disconnectPhoneController() {
phoneController.disconnect();
setDriveMode(Enums.DriveMode.getByID(preferencesManager.getDriveMode()));
binding.controllerContainer.driveMode.setEnabled(true);
binding.controllerContainer.driveMode.setAlpha(1.0f);
}
}