WallyHackenslacker/NxtAR-android
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Started porting the camera calibration functions.

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Wally Hackenslacker
2014-04-10 17:55:31 -04:30
parent 453c3a36e5
commit 249e6e30a4
6 changed files with 493 additions and 380 deletions
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58
jni/cv_proc.cpp
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@@ -21,8 +21,6 @@
//#define CAN_LOG
extern "C"{
#ifdef CAN_LOG
#define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG))
const char * TAG = "CVPROC_NATIVE";
@@ -30,57 +28,61 @@ const char * TAG = "CVPROC_NATIVE";
#define log(TAG, MSG) (1 + 1)
#endif
JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAndLocations(
JNIEnv* env,
jobject jobj,
jlong addrMatIn,
jlong addrMatOut,
jintArray codes
){
extern "C"{
JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAndLocations(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jintArray codes){
char codeMsg[128];
std::vector<int> vCodes;
log(TAG, "Requesting native data.");
log(TAG, "getMarkerCodesAndLocations(): Requesting native data.");
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jint * _codes = env->GetIntArrayElements(codes, 0);
jint * _codes = env->GetIntArrayElements(codes, 0);
log(TAG, "Converting color space before processing.");
log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
log(TAG, "Finding markers.");
log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
nxtar::getAllMarkers(vCodes, mbgr);
log(TAG, "Copying marker codes.");
log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
for(int i = 0; i < vCodes.size() && i < 15; i++){
_codes[i] = vCodes[i];
sprintf(codeMsg, "Code [%d] = %d", i, vCodes[i]);
log(TAG, codeMsg);
_codes[i] = (jint)vCodes[i];
}
vCodes.clear();
log(TAG, "Releasing native data.");
log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
env->ReleaseIntArrayElements(codes, _codes, 0);
}
JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrationPattern(
JNIEnv* env,
jobject jobj,
jlong addrMatIn,
jlong addrMatOut
){
log(TAG, "Requesting native data.");
JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrationPattern(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jfloatArray points){
nxtar::points_vector v_points;
bool found;
log(TAG, "findCalibrationPattern(): Requesting native data.");
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jfloat * _points = env->GetFloatArrayElements(points, 0);
log(TAG, "Converting color space before processing.");
log(TAG, "findCalibrationPattern(): Converting color space before processing.");
cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
log(TAG, "Finding markers.");
nxtar::calibrateCamera(mbgr);
log(TAG, "findCalibrationPattern(): Finding calibration pattern.");
found = nxtar::findCalibrationPattern(v_points, mbgr);
log(TAG, "findCalibrationPattern(): Copying calibration points.");
for(size_t i = 0, p = 0; i < v_points.size(); i++, p += 2){
_points[p] = (jfloat)v_points[i].x;
_points[p + 1] = (jfloat)v_points[i].y;
}
log(TAG, "findCalibrationPattern(): Releasing native data.");
env->ReleaseFloatArrayElements(points, _points, 0);
return (jboolean)found;
}
}