WallyHackenslacker/EVI---AR-Demo
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Added correct 3D model rendering.

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Wally Hackenslacker
2015-10-16 12:05:05 -04:30
parent 7328307104
commit 2598036b28
4 changed files with 219 additions and 55 deletions
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172
core/src/ve/ucv/ciens/icaro/ardemo/EviDemo.java
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@@ -5,34 +5,49 @@ 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 ImageProcessor cvProc;
private Texture tex;
private Pixmap frame;
private SpriteBatch batch;
private MarkerData data;
private CalibrationData calib;
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;
public EviDemo(ImageProcessor proc) {
super();
tex = null;
cvProc = proc;
frame = null;
lastSampleTaken = 0;
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];
}
@@ -40,63 +55,118 @@ public class EviDemo extends ApplicationAdapter {
@Override
public void create () {
batch = new SpriteBatch();
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(cvProc.isCameraCalibrated()) {
data = cvProc.findMarkersInFrame();
if(data != null) {
frame = new Pixmap(data.outFrame, 0, data.outFrame.length);
tex = new Texture(frame);
if(doneLoading) {
batch.begin();
batch.draw(tex, 0, 0);
batch.end();
if(cvProc.isCameraCalibrated()) {
data = cvProc.findMarkersInFrame();
frame.dispose();
tex.dispose();
}
} else {
calib = cvProc.findCalibrationPattern();
if(data != null) {
if(calib != null){
if(!cvProc.isCameraCalibrated() && calib.calibrationPoints != null){
Gdx.app.log(TAG, CLASS_NAME + ".render(): Sample taken.");
// Save the calibration points to the samples array.
for(int i = 0; i < calib.calibrationPoints.length; i += 2){
Gdx.app.log(TAG, CLASS_NAME + ".render(): Value " + Integer.toString(i) + " = (" + Float.toString(calib.calibrationPoints[i]) + ", " + Float.toString(calib.calibrationPoints[i + 1]) + ")");
calibrationSamples[lastSampleTaken][i] = calib.calibrationPoints[i];
calibrationSamples[lastSampleTaken][i + 1] = calib.calibrationPoints[i + 1];
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);
}
}
// Move to the next sample.
lastSampleTaken++;
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);
// If enough samples has been taken then calibrate the camera.
if(lastSampleTaken == ProjectConstants.CALIBRATION_SAMPLES){
Gdx.app.log(TAG, CLASS_NAME + "render(): Last sample taken.");
frame = new Pixmap(data.outFrame, 0, data.outFrame.length);
tex = new Texture(frame);
cvProc.calibrateCamera(calibrationSamples);
batch.begin(); {
batch.draw(tex, 0, 0);
} batch.end();
if(monkey.isVisible()) {
mBatch.begin(camera); {
mBatch.render(monkey.instance);
} mBatch.end();
monkey.setVisible(false);
}
frame.dispose();
tex.dispose();
}
frame = new Pixmap(calib.outFrame, 0, calib.outFrame.length);
tex = new Texture(frame);
} else {
calib = cvProc.findCalibrationPattern();
batch.begin();
batch.draw(tex, 0, 0);
batch.end();
if(calib != null){
frame.dispose();
tex.dispose();
if(!cvProc.isCameraCalibrated() && calib.calibrationPoints != null){
Gdx.app.log(TAG, CLASS_NAME + ".render(): Sample taken.");
// Save the calibration points to the samples array.
for(int i = 0; i < calib.calibrationPoints.length; i += 2){
Gdx.app.log(TAG, CLASS_NAME + ".render(): Value " + Integer.toString(i) + " = (" + Float.toString(calib.calibrationPoints[i]) + ", " + Float.toString(calib.calibrationPoints[i + 1]) + ")");
calibrationSamples[lastSampleTaken][i] = calib.calibrationPoints[i];
calibrationSamples[lastSampleTaken][i + 1] = calib.calibrationPoints[i + 1];
}
// Move to the next sample.
lastSampleTaken++;
// If enough samples has been taken then calibrate the camera.
if(lastSampleTaken == ProjectConstants.CALIBRATION_SAMPLES){
Gdx.app.log(TAG, CLASS_NAME + "render(): Last sample taken.");
cvProc.calibrateCamera(calibrationSamples);
}
}
frame = new Pixmap(calib.outFrame, 0, calib.outFrame.length);
tex = new Texture(frame);
batch.begin();
batch.draw(tex, 0, 0);
batch.end();
frame.dispose();
tex.dispose();
}
}
} else {
doneLoading = manager.update();
if(doneLoading)
monkey.setModel(manager.get("monkey.g3db", Model.class));
}
}
}

75
core/src/ve/ucv/ciens/icaro/ardemo/Monkey.java Normal file
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@@ -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();
}
}

25
desktop/src/ve/ucv/ciens/icaro/ardemo/desktop/CVProcessor.java
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@@ -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 boolean findCalibrationPattern(long inMat, long outMat, float[] points);
private native double calibrateCameraParameters(long camMat, long distMat, long frame, float[] calibrationPoints);
private native void getMarkerCodesAndLocations(
long inMat,
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{

2
desktop/src/ve/ucv/ciens/icaro/ardemo/desktop/DesktopLauncher.java
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@@ -8,7 +8,7 @@ import com.badlogic.gdx.backends.lwjgl.LwjglApplicationConfiguration;
public class DesktopLauncher{
private static final String TAG = "NXTAR_ANDROID_MAIN";
private static final String CLASS_NAME = DesktopLauncher.class.getSimpleName();
public static void main (String[] arg) {
if(!CVProcessor.isOcvOn()){
throw new RuntimeException(TAG + " : " + CLASS_NAME + ": OpenCV failed to load.");