Created a Camera Fragment & Activity to start testing computer vision

IOIOTruck/AndroidManifest.xml

@@ -11,6 +11,7 @@
     <uses-permission android:name="android.permission.ACCESS_COARSE_LOCATION" />
     <uses-permission android:name="android.permission.BLUETOOTH" />
     <uses-permission android:name="android.permission.WAKE_LOCK" />
+    <uses-permission android:name="android.permission.CAMERA" />
 
     <application
         android:icon="@drawable/icon"
@@ -47,6 +48,9 @@
         </activity>
 
         <uses-library android:name="com.google.android.maps" />
+
+        <activity android:name="CameraActivity" >
+        </activity>
     </application>
 
 </manifest>

IOIOTruck/res/layout/camera_activity.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RelativeLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/camera_fragment"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+
+    <fragment
+        android:id="@+id/camera_fragment"
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"
+        class="com.TwentyCodes.android.IOIOTruck.CameraFragment" >
+
+        <!-- Preview: layout=@layout/camera_fragment -->
+
+    </fragment>
+
+    <TextView
+        android:id="@+id/log_textView"
+        android:layout_width="wrap_content"
+        android:layout_height="wrap_content"
+        android:layout_alignParentBottom="true"
+        android:layout_centerHorizontal="true"
+        android:textAppearance="?android:attr/textAppearanceLarge" />
+
+</RelativeLayout>

IOIOTruck/res/layout/camera_fragment.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<FrameLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:id="@+id/camera_frame"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent" >
+
+    <SurfaceView
+        android:id="@+id/cameraSurface"
+        android:layout_width="fill_parent"
+        android:layout_height="fill_parent" />
+
+</FrameLayout>

IOIOTruck/res/layout/main.xml

@@ -43,6 +43,12 @@
         android:layout_height="wrap_content"
         android:text="@string/nav_activity" />
     
+    <Button
+        android:id="@+id/camera_activity_button"
+        android:layout_width="match_parent"
+        android:layout_height="wrap_content"
+        android:text="@string/camera_activity" />
+
     <RelativeLayout
         android:id="@+id/relativeLayout1"
         android:layout_width="match_parent"

IOIOTruck/res/layout/nav_activity.xml

@@ -17,7 +17,6 @@
         android:layout_weight="2" >
 
         <fragment
-            xmlns:android="http://schemas.android.com/apk/res/android"
             android:id="@+id/map_fragment"
             android:layout_width="match_parent"
             android:layout_height="match_parent"

IOIOTruck/res/values/strings.xml

@@ -26,5 +26,6 @@
     <string name="no_gps_signal">No GPS signal at this time, please try agian</string>
     <string name="point_selected">Location Selected: </string>
     <string name="dest_reached">Destination reached</string>
+    <string name="camera_activity">Camera Activity</string>
 
 </resources>

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/CameraActivity.java

@@ -0,0 +1,102 @@
+/**
+ * CameraActivity.java
+ * @date Jan 29, 2012
+ * @author ricky barrette
+ * @author Twenty Codes, LLC
+ * 
+ * Copyright 2012 Richard Barrette 
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); 
+ * you may not use this file except in compliance with the License. 
+ * You may obtain a copy of the License at 
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0 
+ * 
+ * Unless required by applicable law or agreed to in writing, software 
+ * distributed under the License is distributed on an "AS IS" BASIS, 
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * See the License for the specific language governing permissions and 
+ * limitations under the License
+ */
+package com.TwentyCodes.android.IOIOTruck;
+
+import com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener;
+
+import android.content.Context;
+import android.os.Bundle;
+import android.os.PowerManager;
+import android.os.PowerManager.WakeLock;
+import android.support.v4.app.FragmentActivity;
+import android.widget.TextView;
+
+/**
+ * This activity will be used to test the object avoidance algorithms
+ * 
+ * TODO
+ *  + drive the robot forward
+ *  + steer the robot to avoid object in front of it
+ * @author ricky barrette
+ */
+public class CameraActivity extends FragmentActivity implements IOIOTruckThreadListener {
+
+	private static final String TAG = "CameraActivity";
+	private IOIOTruckManager mIOIOManager;
+	private WakeLock mWakeLock;
+	private TextView mLogTextView;
+
+	/**
+	 * Called when the activity is being created
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onCreate(android.os.Bundle)
+	 */
+	@Override
+	protected void onCreate(Bundle icicle) {
+		super.onCreate(icicle);
+		setContentView(R.layout.camera_activity);
+		mLogTextView = (TextView) findViewById(R.id.log_textView);
+	}
+
+	/**
+	 * Called when the activity is pausing
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onPause()
+	 */
+	@Override
+	protected void onPause() {
+		super.onPause();
+		try {
+			mIOIOManager.abort();
+		} catch (InterruptedException e) {
+			e.printStackTrace();
+		}
+		if(mWakeLock.isHeld())
+			mWakeLock.release();
+	}
+
+	/**
+	 * Called when the activity is resuming
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.FragmentActivity#onResume()
+	 */
+	@Override
+	protected void onResume() {
+		mIOIOManager = new IOIOTruckManager(this, this);
+		mIOIOManager.start();
+		
+		PowerManager pm = (PowerManager) this.getSystemService(Context.POWER_SERVICE);
+		mWakeLock = pm.newWakeLock(PowerManager.SCREEN_DIM_WAKE_LOCK | PowerManager.ON_AFTER_RELEASE, TAG);
+		mWakeLock.acquire();
+		super.onResume();
+	}
+
+	/**
+	 * Called when the IOIO Manager wants to log something
+	 * (non-Javadoc)
+	 * @see com.TwentyCodes.android.IOIOTruck.IOIOTruckManager.IOIOTruckThreadListener#onLogUpdate(java.lang.String)
+	 */
+	@Override
+	public void onLogUpdate(String log) {
+		mLogTextView.setText(log);
+	}
+
+}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/CameraFragment.java

@@ -0,0 +1,290 @@
+/**
+ * CameraFragment.java
+ * @date Jan 29, 2012
+ * @author ricky barrette
+ * @author Twenty Codes, LLC
+ * 
+ * Copyright 2012 Richard Barrette 
+ * 
+ * Licensed under the Apache License, Version 2.0 (the "License"); 
+ * you may not use this file except in compliance with the License. 
+ * You may obtain a copy of the License at 
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0 
+ * 
+ * Unless required by applicable law or agreed to in writing, software 
+ * distributed under the License is distributed on an "AS IS" BASIS, 
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * See the License for the specific language governing permissions and 
+ * limitations under the License
+ */
+package com.TwentyCodes.android.IOIOTruck;
+
+import java.io.IOException;
+import java.util.Iterator;
+import java.util.List;
+
+import android.content.Context;
+import android.graphics.Canvas;
+import android.graphics.Color;
+import android.graphics.Paint;
+import android.hardware.Camera;
+import android.hardware.Camera.Size;
+import android.os.Bundle;
+import android.support.v4.app.Fragment;
+import android.view.LayoutInflater;
+import android.view.SurfaceHolder;
+import android.view.SurfaceView;
+import android.view.View;
+import android.view.ViewGroup;
+import android.widget.FrameLayout;
+
+import com.TwentyCodes.android.location.R;
+
+/**
+ * This camera fragment will be used to maintain the camera, display a preview on the screen, display a vanishing point overlay on the preview
+ * @author ricky barrette
+ */
+public class CameraFragment extends Fragment {
+	
+	/**
+	 * A interface used to receive steering updates generated by the camera
+	 * @author ricky barrette
+	 */
+	public interface CameraListener{
+		/**
+		 * Called when there is new information
+		 * @param error
+		 * @author ricky barrette
+		 */
+		public void onCameraUpdate(int steeringModifier);
+	}
+	
+	private boolean isDrawingView;
+	private Camera mCamera;
+	private Size mPreviewSize;
+	private byte[] mImageData;
+	private PreviewOverlay mPreviewOverlay;
+	private SurfaceView mPreview;
+	private CameraListener mListener;
+
+	/**
+	 * Creates a new VanishingPointCameraFragment 
+	 * @author ricky barrette
+	 */
+	public CameraFragment() {
+		super();
+	}
+
+
+	/**
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.Fragment#onViewCreated(android.view.View, android.os.Bundle)
+	 * @author ricky barrette
+	 */
+	@Override
+	public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
+		View view = inflater.inflate(R.layout.camera_fragment, container, false);
+		
+		/*
+		 * setup augmented preview overlay
+		 */
+		FrameLayout fl = (FrameLayout) view.findViewById(R.id.camera_frame);
+		mPreviewOverlay = new PreviewOverlay(this.getActivity());
+		fl.addView(mPreviewOverlay);
+		
+		/*
+		 * setup camera preview		
+		 */
+		mPreview = (SurfaceView) view.findViewById(R.id.cameraSurface);
+		SurfaceHolder cameraHolder = mPreview.getHolder();
+		cameraHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
+		cameraHolder.addCallback(new SurfaceHolder.Callback() {
+			public void surfaceCreated(SurfaceHolder holder) {
+				try {
+					mCamera.setPreviewDisplay(holder);
+					mCamera.startPreview();
+				} catch (IOException e) {
+					e.printStackTrace();
+				}
+			}
+			
+			public void surfaceDestroyed(SurfaceHolder holder) {}
+			public void surfaceChanged(SurfaceHolder holder, int format, int width, int height) {}
+		});
+		
+		return view;
+	}
+
+
+	/**
+	 * Called when the application is resuming
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.Fragment#onResume()
+	 * @author ricky barrette 
+	 */
+	@Override
+	public void onResume() {
+		super.onResume();
+		
+		/*
+		 * open camera
+		 */
+		mCamera = Camera.open();
+		mCamera.setDisplayOrientation(90);
+		Camera.Parameters params = mCamera.getParameters();
+		
+		/*
+		 * find smallest preview size
+		 */
+		List<Size> sizes = params.getSupportedPreviewSizes();
+		Iterator<Size> iter = sizes.iterator();
+		mPreviewSize = sizes.get(0);
+		int minPixelCount = mPreviewSize.width * mPreviewSize.height;
+		while (iter.hasNext()) {
+			Size size = iter.next();
+			int pixelCount = size.height * size.width;
+			if (pixelCount < minPixelCount) {
+				minPixelCount = pixelCount;
+				mPreviewSize = size;
+			}
+		}
+		params.setPreviewSize(mPreviewSize.width, mPreviewSize.height);
+		
+		mPreviewOverlay.setPreviewSize(mPreviewSize.width, mPreviewSize.height);
+		mImageData = new byte[mPreviewSize.width*mPreviewSize.height];
+		mCamera.setPreviewCallback(new Camera.PreviewCallback() {
+			
+
+			@Override
+			public void onPreviewFrame(byte[] data, Camera camera) {
+				if (!isDrawingView) {
+					mImageData = data;
+					mPreviewOverlay.invalidate();
+					isDrawingView = true;
+				}
+			}
+		});
+		
+		params.setRotation(90);
+		mCamera.setParameters(params);
+	
+	}
+	
+	/**
+	 * Called when the application is pausing
+	 * (non-Javadoc)
+	 * @see android.support.v4.app.Fragment#onPause()
+	 * @author ricky barrette
+	 */
+	public void onPause() {
+		super.onPause();
+		mCamera.stopPreview();
+		mCamera.setPreviewCallback(null);
+		mCamera.release();
+	}
+
+	/**
+	 * @return the mError
+	 */
+	public void setListener(CameraListener listener) {
+		mListener = listener;
+	}
+
+	/**
+	 * This View view will be displayed over the image preview.
+	 * It will be used to display a human readable overlay
+	 * @author ricky barrette
+	 */
+	private class PreviewOverlay extends View {
+
+		private int imageWidth, imageHeight, mHorizonOffset;
+		private int[] localData, edgePixels;
+		private long lastTime;
+		private int mVerticalOffsetLeft;
+		private int mVerticalOffsetRight;
+		
+		
+		/**
+		 * Creates a new PreviewOverlay
+		 * @param context
+		 * @author ricky barrette
+		 */
+		public PreviewOverlay(Context context) {
+			super(context);
+			lastTime = System.nanoTime();
+		}
+		
+		public void setPreviewSize(int width, int height) {
+			ViewGroup.LayoutParams layoutParams = this.getLayoutParams();
+			layoutParams.height = ViewGroup.LayoutParams.MATCH_PARENT;
+			layoutParams.width = ViewGroup.LayoutParams.MATCH_PARENT;
+			this.setLayoutParams(layoutParams);
+			
+			imageWidth = width;
+			imageHeight = height;
+			
+			localData = new int[width*height];
+			edgePixels = new int[width*height];
+		}
+		
+		/**
+		 * Called by system when view is invalidated
+		 * (non-Javadoc)
+		 * @see android.view.View#onDraw(android.graphics.Canvas)
+		 * @author ricky barrette
+		 */
+		@Override
+	    public void onDraw(Canvas canvas) {
+	        super.onDraw(canvas);
+	        
+	        mHorizonOffset = (this.getHeight() / 4) * 3;
+	        mVerticalOffsetLeft = this.getWidth() / 4;
+	        mVerticalOffsetRight = (this.getWidth() /4 )* 3;
+	        
+	        if (mImageData == null) return;
+	        
+	        Paint paint = new Paint();
+	        paint.setColor(Color.RED);
+	        
+	        /*
+	         * draw the vertical & horizon lines that represent the robots path
+	         */
+	        canvas.drawLine(0, mHorizonOffset, this.getWidth(), mHorizonOffset, paint);
+	        canvas.drawLine(mVerticalOffsetLeft, mHorizonOffset, mVerticalOffsetLeft, this.getHeight(), paint);
+	        canvas.drawLine(mVerticalOffsetRight, mHorizonOffset, mVerticalOffsetRight, this.getHeight(), paint);
+	        
+	        
+	        /*
+	         * TODO Draw boxes around objects
+	         */
+	        
+	        /*
+	         * TODO some magical computer vision math
+	         * TODO draw path
+	         */
+	        paint.setStrokeWidth(2);
+	        paint.setColor(Color.GREEN);
+	       
+
+	        
+	        /*
+	         * here is some text information
+	         */
+	        paint.setColor(Color.RED);
+	        paint.setTextSize(30);
+	        
+	        /*
+	         * FPS
+	         */
+	        long thisTime = System.nanoTime();
+	        double fps = Math.floor(1e12/(thisTime - lastTime))/1000;
+	        lastTime = thisTime;
+	        canvas.drawText(fps + " fps", 5, 30, paint);
+	        
+	        
+	        isDrawingView = false;
+	        
+		}
+	}
+}

IOIOTruck/src/com/TwentyCodes/android/IOIOTruck/Main.java

@@ -49,6 +49,7 @@ public class Main extends Activity implements OnClickListener {
         
         findViewById(R.id.test_activity_button).setOnClickListener(this);
         findViewById(R.id.nav_activity_button).setOnClickListener(this);
+        findViewById(R.id.camera_activity_button).setOnClickListener(this);
         
         /*
          * Version information textview
@@ -78,9 +79,16 @@ public class Main extends Activity implements OnClickListener {
 			case R.id.test_activity_button:
 				startActivity(new Intent(this, TestActivity.class));
 				break;
+				
 			case R.id.nav_activity_button:
 				startActivity(new Intent(this, NavigationActivity.class));
 				break;
+				
+			case R.id.camera_activity_button:
+				startActivity(new Intent(this, CameraActivity.class));
+				break;
+				
+					
 		}
 		
 	}