First version.

MINDdroidCV_MINDSTORMS/jni/jni_part.cpp.orig

@@ -0,0 +1,45 @@
+#include <jni.h>
+#include <opencv2/core/core.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <opencv2/features2d/features2d.hpp>
+#include <vector>
+
+using namespace std;
+using namespace cv;
+
+extern "C" {
+  JNIEXPORT void JNICALL Java_com_lego_minddroid_SampleView_FindLight(JNIEnv* env, jobject thiz, jlong _imgInp, jlong _imgRes, jintArray array)
+{
+    jint*  _array = env->GetIntArrayElements(array, 0);
+
+    Mat* pMatInp=(Mat*)_imgInp;
+    Mat* pMatRes=(Mat*)_imgRes;
+    Mat m = Mat(pMatInp->rows,pMatInp->cols,CV_8UC4);
+    vector<Mat> planes;
+    //Mat myuv(height + height/2, width, CV_8UC1, (unsigned char *)_yuv);
+    //Please make attention about BGRA byte order
+    //ARGB stored in java as int array becomes BGRA at native level
+    cvtColor(*pMatInp, m, CV_BGR2HSV, 4);
+
+    split(*pMatRes,planes);
+    for(int i=0; i<4; ++i ){
+      planes[i] = Mat::zeros(planes[i].rows,planes[i].cols, CV_8UC1); //Mat::eye(planes[i].rows,planes[i].cols, CV_8UC1)*255;
+    }
+
+    Scalar lightLower = Scalar(0, 0, 220);
+    Scalar lightUpper = Scalar(360, 10, 255);
+
+    //for(int i=0; i<4; ++i ){
+      inRange(m, lightLower, lightUpper, planes[0]);
+      //}
+
+    merge(planes,*pMatRes);
+
+    circle(*pMatRes, Point(100, 50), 10, Scalar(255,0,255,255));
+    _array[1] = 2*_array[0];
+
+    env->ReleaseIntArrayElements(array, _array, 0);
+
+}
+
+}