Added correct 3D model rendering.

core/src/ve/ucv/ciens/icaro/ardemo/EviDemo.java

@@ -5,21 +5,35 @@ import ve.ucv.ciens.icaro.ardemo.ImageProcessor.MarkerData;
 
 import com.badlogic.gdx.ApplicationAdapter;
 import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.assets.AssetManager;
 import com.badlogic.gdx.graphics.GL20;
 import com.badlogic.gdx.graphics.Pixmap;
 import com.badlogic.gdx.graphics.Texture;
 import com.badlogic.gdx.graphics.g2d.SpriteBatch;
+import com.badlogic.gdx.graphics.g3d.Model;
+import com.badlogic.gdx.graphics.g3d.ModelBatch;
 
 public class EviDemo extends ApplicationAdapter {
-	private static final String TAG = "NXTAR_ANDROID_MAIN";
+	private static final String TAG        = "EVI DEMO - CORE";
 	private static final String CLASS_NAME = EviDemo.class.getSimpleName();
 
+	private static final int   W    = 640;
+	private static final int   H    = 360;
+	private static final float NEAR = 0.01f;
+	private static final float FAR  = 10.0f;
+	private static final int   CODE = 213;
+
 	private ImageProcessor          cvProc;
 	private Texture                 tex;
 	private Pixmap                  frame;
 	private SpriteBatch             batch;
+	private ModelBatch              mBatch;
 	private MarkerData              data;
 	private CalibrationData         calib;
+	private AssetManager            manager;
+	private boolean                 doneLoading;
+	private CustomPerspectiveCamera camera;
+	private Monkey                  monkey;
 
 	private float[][] calibrationSamples;
 	private int lastSampleTaken;
@@ -29,10 +43,11 @@ public class EviDemo extends ApplicationAdapter {
 		tex                = null;
 		cvProc             = proc;
 		frame              = null;
-
+		doneLoading        = false;
 		lastSampleTaken    = 0;
-
 		calibrationSamples = new float[ProjectConstants.CALIBRATION_SAMPLES][];
+		monkey             = new Monkey();
+
 		for(int i = 0; i < calibrationSamples.length; i++){
 			calibrationSamples[i] = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2];
 		}
@@ -41,26 +56,75 @@ public class EviDemo extends ApplicationAdapter {
 	@Override
 	public void create () {
 		batch   = new SpriteBatch();
+		mBatch  = new ModelBatch();
+
+		manager = new AssetManager();
+		manager.load("monkey.g3db", Model.class);
+
+		camera      = new CustomPerspectiveCamera(67, W, H);
+		camera.near = NEAR;
+		camera.far  = FAR;
+		camera.translate(0.0f, 0.0f, 0.0f);
+		camera.lookAt(0.0f, 0.0f, -1.0f);
+		camera.update();
+	}
+
+	@Override
+	public void dispose() {
+		if(tex != null) tex.dispose();
+		manager.dispose();
+		batch.dispose();
+		mBatch.dispose();
 	}
 
 	@Override
 	public void render () {
+		float focalPointX, focalPointY, cameraCenterX, cameraCenterY;
+
 		Gdx.gl.glClearColor(1, 0, 0, 1);
-		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
+		Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT | GL20.GL_DEPTH_BUFFER_BIT);
+
+		if(doneLoading) {
 
 			if(cvProc.isCameraCalibrated()) {
 				data = cvProc.findMarkersInFrame();
+
 				if(data != null) {
+
+					for(int i = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++) {
+						if(data.markerCodes[i] == CODE) {
+							monkey.position.set(data.translationVectors[i]);
+							monkey.rotation.set(data.rotationMatrices[i]);
+							monkey.applyWorldTransform();
+							monkey.setVisible(true);
+						}
+					}
+
+					focalPointX   = cvProc.getFocalPointX();
+					focalPointY   = cvProc.getFocalPointY();
+					cameraCenterX = cvProc.getCameraCenterX();
+					cameraCenterY = cvProc.getCameraCenterY();
+					camera.setCustomARProjectionMatrix(focalPointX, focalPointY, cameraCenterX, cameraCenterY, NEAR, FAR, W, H);
+					camera.update(camera.projection);
+
 					frame = new Pixmap(data.outFrame, 0, data.outFrame.length);
 					tex = new Texture(frame);
 
-				batch.begin();
+					batch.begin(); {
 						batch.draw(tex, 0, 0);
-				batch.end();
+					} batch.end();
+
+					if(monkey.isVisible()) {
+						mBatch.begin(camera); {
+							mBatch.render(monkey.instance);
+						} mBatch.end();
+						monkey.setVisible(false);
+					}
 
 					frame.dispose();
 					tex.dispose();
 				}
+
 			} else {
 				calib = cvProc.findCalibrationPattern();
 
@@ -98,5 +162,11 @@ public class EviDemo extends ApplicationAdapter {
 					tex.dispose();
 				}
 			}
+
+		} else {
+			doneLoading = manager.update();
+			if(doneLoading)
+				monkey.setModel(manager.get("monkey.g3db", Model.class));
+		}
 	}
 }

core/src/ve/ucv/ciens/icaro/ardemo/Monkey.java

@@ -0,0 +1,75 @@
+package ve.ucv.ciens.icaro.ardemo;
+
+import com.badlogic.gdx.graphics.g3d.Model;
+import com.badlogic.gdx.graphics.g3d.ModelInstance;
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Matrix4;
+import com.badlogic.gdx.math.Vector3;
+
+class Monkey {
+	private Model         model;
+	public  ModelInstance instance;
+	public  Vector3       position;
+	public  Matrix3       rotation;
+	public  Vector3       scaling;
+	private boolean       visible;
+
+	public Monkey() {
+		this.position = new Vector3();
+		this.rotation = new Matrix3();
+		this.scaling  = new Vector3(1.0f, 1.0f, 1.0f);
+		this.visible  = false;
+		this.instance = null;
+		this.model    = null;
+	}
+
+	public boolean isVisible() {
+		return visible;
+	}
+
+	public void setVisible(boolean visible) {
+		this.visible = visible;
+	}
+
+	public Model getModel() {
+		return model;
+	}
+
+	public void setModel(Model model) {
+		this.model = model;
+		this.instance = new ModelInstance(this.model);
+	}
+
+	public void applyWorldTransform(){
+		Matrix4 translationMatrix = new Matrix4().setToTranslation(0.0f, 0.0f, 0.0f);;
+		Matrix4 rotationMatrix    = new Matrix4().idt();;
+		Matrix4 scalingMatrix     = new Matrix4().setToScaling(0.0f, 0.0f, 0.0f);;
+
+		translationMatrix.setToTranslation(this.position);
+
+		rotationMatrix.val[Matrix4.M00] = this.rotation.val[0];
+		rotationMatrix.val[Matrix4.M10] = this.rotation.val[1];
+		rotationMatrix.val[Matrix4.M20] = this.rotation.val[2];
+		rotationMatrix.val[Matrix4.M30] = 0;
+
+		rotationMatrix.val[Matrix4.M01] = this.rotation.val[3];
+		rotationMatrix.val[Matrix4.M11] = this.rotation.val[4];
+		rotationMatrix.val[Matrix4.M21] = this.rotation.val[5];
+		rotationMatrix.val[Matrix4.M31] = 0;
+
+		rotationMatrix.val[Matrix4.M02] = this.rotation.val[6];
+		rotationMatrix.val[Matrix4.M12] = this.rotation.val[7];
+		rotationMatrix.val[Matrix4.M22] = this.rotation.val[8];
+		rotationMatrix.val[Matrix4.M32] = 0;
+
+		rotationMatrix.val[Matrix4.M03] = 0;
+		rotationMatrix.val[Matrix4.M13] = 0;
+		rotationMatrix.val[Matrix4.M23] = 0;
+		rotationMatrix.val[Matrix4.M33] = 1;
+
+		scalingMatrix.setToScaling(this.scaling);
+
+		instance.transform.idt().mul(translationMatrix).mul(rotationMatrix).mul(scalingMatrix);
+		instance.calculateTransforms();
+	}
+}

desktop/src/ve/ucv/ciens/icaro/ardemo/desktop/CVProcessor.java

@@ -28,9 +28,28 @@ public class CVProcessor implements ImageProcessor {
 
 	private boolean cameraCalibrated;
 
-	private native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes, long camMat, long distMat, float[] translations, float[] rotations);
+	private native void getMarkerCodesAndLocations(
-	private native boolean findCalibrationPattern(long inMat, long outMat, float[] points);
+			long inMat,
-	private native double calibrateCameraParameters(long camMat, long distMat, long frame, float[] calibrationPoints);
+			long outMat,
+			int[] codes,
+			long camMat,
+			long distMat,
+			float[] translations,
+			float[] rotations
+			);
+
+	private native boolean findCalibrationPattern(
+			long inMat,
+			long outMat,
+			float[] points
+			);
+
+	private native double calibrateCameraParameters(
+			long camMat,
+			long distMat,
+			long frame,
+			float[] calibrationPoints
+			);
 
 	static{
 		try{