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185
desktop/jni/cv_proc.cpp
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185
desktop/jni/cv_proc.cpp
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/*
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* Copyright (C) 2014 Miguel Angel Astor Romero
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <jni.h>
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#include <stddef.h>
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#include <cstdio>
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#include "marker.hpp"
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//#define LOG_ENABLED
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#define MAX_MARKERS 5
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#define TRANSLATION_VECTOR_POINTS 3
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#define ROTATION_MATRIX_SIZE 9
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#define POINTS_PER_CALIBRATION_SAMPLE 54
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#define CALIBRATION_SAMPLES 10
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#ifndef NDEBUG
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#define log(TAG, MSG) (fprintf(stdout, "%s : %s\n", TAG, MSG))
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#else
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#define log(TAG, MSG) ;
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#endif
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const char * TAG = "CVPROC_NATIVE";
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extern "C"{
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/**
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* JNI wrapper around the nxtar::getAllMarkers() method.
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*/
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JNIEXPORT void JNICALL Java_ve_ucv_ciens_icaro_ardemo_desktop_CVProcessor_getMarkerCodesAndLocations(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jintArray codes, jlong camMat, jlong distMat, jfloatArray translations, jfloatArray rotations){
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char codeMsg[128];
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std::vector<int> vCodes;
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nxtar::markers_vector vMarkers;
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cv::Mat temp;
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// Get the native object addresses.
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log(TAG, "getMarkerCodesAndLocations(): Requesting native data.");
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cv::Mat& myuv = *(cv::Mat*)addrMatIn;
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cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
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cv::Mat& mCam = *(cv::Mat*)camMat;
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cv::Mat& mDist = *(cv::Mat*)distMat;
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jint * _codes = env->GetIntArrayElements(codes, 0);
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jfloat * _tr = env->GetFloatArrayElements(translations, 0);
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jfloat * _rt = env->GetFloatArrayElements(rotations, 0);
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// Convert the input image to the BGR color space.
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log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
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cv::cvtColor(myuv, temp, CV_RGB2BGR);
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// Find all markers in the input image.
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log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
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nxtar::getAllMarkers(vMarkers, temp);
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nxtar::estimateMarkerPosition(vMarkers, mCam, mDist);
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// Copy the marker codes to the output vector.
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log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
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for(size_t i = 0; i < vMarkers.size() && i < MAX_MARKERS; i++){
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_codes[i] = (jint)vMarkers[i].code;
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}
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// Copy the geometric transformations to the output vectors.
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for(int i = 0, p = 0; i < vMarkers.size(); i++, p += 3){
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_tr[p ] = vMarkers[i].translation.at<jfloat>(0);
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_tr[p + 1] = vMarkers[i].translation.at<jfloat>(1);
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_tr[p + 2] = vMarkers[i].translation.at<jfloat>(2);
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}
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for(int k = 0; k < vMarkers.size(); k++){
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for(int row = 0; row < 3; row++){
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for(int col = 0; col < 3; col++){
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_rt[col + (row * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
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}
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}
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}
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// Clear marker memory.
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vMarkers.clear();
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// Convert the output image back to the RGB color space.
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cv::cvtColor(temp, mbgr, CV_BGR2RGB);
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// Release native data.
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log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
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env->ReleaseIntArrayElements(codes, _codes, 0);
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env->ReleaseFloatArrayElements(translations, _tr, 0);
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env->ReleaseFloatArrayElements(rotations, _rt, 0);
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}
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/**
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* JNI wrapper around the nxtar::findCalibrationPattern() method.
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*/
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JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_icaro_ardemo_desktop_CVProcessor_findCalibrationPattern(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jfloatArray points){
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nxtar::points_vector v_points;
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bool found;
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cv::Mat temp;
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// Get the native object addresses.
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log(TAG, "findCalibrationPattern(): Requesting native data.");
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cv::Mat& myuv = *(cv::Mat*)addrMatIn;
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cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
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jfloat * _points = env->GetFloatArrayElements(points, 0);
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// Convert the input image to the BGR color space.
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log(TAG, "findCalibrationPattern(): Converting color space before processing.");
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cv::cvtColor(myuv, temp, CV_RGB2BGR);
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// Find the calibration points in the input image.
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log(TAG, "findCalibrationPattern(): Finding calibration pattern.");
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found = nxtar::findCalibrationPattern(v_points, temp);
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// If the points were found then save them to the output array.
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if(found){
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log(TAG, "findCalibrationPattern(): Copying calibration points.");
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for(size_t i = 0, p = 0; i < v_points.size(); i++, p += 2){
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_points[p ] = (jfloat)v_points[i].x;
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_points[p + 1] = (jfloat)v_points[i].y;
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}
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}
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// Convert the output image back to the RGB color space.
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cv::cvtColor(temp, mbgr, CV_BGR2RGB);
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// Release native data.
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log(TAG, "findCalibrationPattern(): Releasing native data.");
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env->ReleaseFloatArrayElements(points, _points, 0);
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return (jboolean)found;
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}
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/**
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* JNI wrapper around the nxtar::getCameraParameters() method.
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*/
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JNIEXPORT jdouble JNICALL Java_ve_ucv_ciens_icaro_ardemo_desktop_CVProcessor_calibrateCameraParameters(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jlong addrMatFrame, jfloatArray points){
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double error;
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std::vector<nxtar::points_vector> imagePoints;
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// Get native object addresses.
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log(TAG, "calibrateCameraParameters(): Requesting native data.");
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cv::Mat& mIn = *(cv::Mat*)addrMatIn;
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cv::Mat& mOut = *(cv::Mat*)addrMatOut;
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cv::Mat& mFrame = *(cv::Mat*)addrMatFrame;
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jfloat * _points = env->GetFloatArrayElements(points, 0);
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// Prepare the image points data structure.
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log(TAG, "calibrateCameraParameters(): Preparing image points.");
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for(int i = 0; i < CALIBRATION_SAMPLES; i++){
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nxtar::points_vector tempVector;
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for(int j = 0, p = 0; j < POINTS_PER_CALIBRATION_SAMPLE; j++, p += 2){
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tempVector.push_back(cv::Point2f(_points[p], _points[p + 1]));
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}
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imagePoints.push_back(tempVector);
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}
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// Get the camera parameters.
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log(TAG, "calibrateCameraParameters(): Getting camera parameters.");
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error = nxtar::getCameraParameters(mIn, mOut, imagePoints, mFrame.size());
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// Clear the image points.
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log(TAG, "calibrateCameraParameters(): Clearing memory.");
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for(int i = 0; i < imagePoints.size(); i++){
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imagePoints[i].clear();
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}
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imagePoints.clear();
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// Release native memory.
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log(TAG, "calibrateCameraParameters(): Releasing native data.");
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env->ReleaseFloatArrayElements(points, _points, 0);
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// Return the calibration error as calculated by OpenCV.
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return error;
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}
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} // extern "C"
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