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

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This commit is contained in:
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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2
jni/Android.mk
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@@ -4,7 +4,7 @@ include $(CLEAR_VARS)
OPENCV_CAMERA_MODULES:=off
OPENCV_LIB_TYPE:=STATIC
include /home/miky/Escritorio/OpenCV-2.4.7-android-sdk/sdk/native/jni/OpenCV.mk
include C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
LOCAL_MODULE := cvproc
LOCAL_SRC_FILES := cv_proc.cpp marker.cpp

56
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);
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;
}
}

150
jni/marker.cpp
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@@ -16,28 +16,100 @@
#include <algorithm>
#include <utility>
#include <limits>
#ifdef DESKTOP
#include <iostream>
#endif
#include "marker.hpp"
#define MIN_CONTOUR_LENGTH 0.1
namespace nxtar{
static int PATTERN_DETECTION_PARAMS = cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK;
static const cv::TermCriteria termCriteria = cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1);
static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
static const cv::Size checkersPatternSize(6, 9);
typedef std::vector<cv::Point3f> points_vector_3D;
typedef std::vector<std::vector<cv::Point> > contours_vector;
typedef std::vector<Marker> markers_vector;
/******************************************************************************
* PRIVATE CONSTANTS *
******************************************************************************/
/**
* Size of a square cell in the calibration pattern.
*/
static const float SQUARE_SIZE = 1.0f;
/**
* Minimal lenght of a contour to be considered as a marker candidate.
*/
static const float MIN_CONTOUR_LENGTH = 0.1;
/**
* Flags for the calibration pattern detecion function.
*/
static const int PATTERN_DETECTION_FLAGS = cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK;
/**
* Color for rendering the marker outlines.
*/
static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
/**
* Size of the chessboard pattern image (columns, rows).
*/
static const cv::Size CHESSBOARD_PATTERN_SIZE(6, 9);
/**
* Termination criteria for OpenCV's iterative algorithms.
*/
static const cv::TermCriteria TERM_CRITERIA = cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1);
/******************************************************************************
* PRIVATE FUNCTION PROTOTYPES *
******************************************************************************/
/**
* Calculates the perimeter of a points vector defining a polygon.
*/
float perimeter(points_vector &);
/**
* Calculates the Hamming distance of a 5x5 marker.
*/
int hammDistMarker(cv::Mat);
/**
* Rotates an OpenCV matrix in place by 90 degrees clockwise.
*/
cv::Mat rotate(cv::Mat);
/**
* Returns the code of a 5x5 marker or -1 if the marker is not valid.
*/
int decodeMarker(cv::Mat &);
/**
* Renders the polygon defined in the input vector on the specified image.
*/
void renderMarkers(markers_vector &, cv::Mat &);
/**
* Identifies all possible marker candidates in a polygon vector.
*/
void isolateMarkers(const contours_vector &, markers_vector &);
/**
* Identifies all roughly 4 side figures in the input image.
*/
void findContours(cv::Mat &, contours_vector &, int);
/**
* Removes the prerspective distortion from a marker candidate image.
*/
void warpMarker(Marker &, cv::Mat &, cv::Mat &);
/******************************************************************************
* PUBLIC API *
******************************************************************************/
void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
cv::Mat gray, thresh, cont, mark;
contours_vector contours;
@@ -49,11 +121,18 @@ void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
codes.clear();
// Find all marker candidates in the input image.
// 1) First, convert the image to grayscale.
// 2) Then, binarize the grayscale image.
// 3) Finally indentify all 4 sided figures in the binarized image.
cv::cvtColor(img, gray, CV_BGR2GRAY);
cv::adaptiveThreshold(gray, thresh, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
findContours(thresh, contours, 40);
isolateMarkers(contours, markers);
// Remove the perspective distortion from the detected marker candidates.
// Then attempt to decode them and push the valid ones into the valid
// markes vector.
for(int i = 0; i < markers.size(); i++){
warpMarker(markers[i], gray, mark);
@@ -67,6 +146,8 @@ void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
for(int i = 0; i < valid_markers.size(); i++){
#ifdef DESKTOP
// Render the detected valid markers with their codes for debbuging
// purposes.
oss << valid_markers[i].code;
cv::putText(mark, oss.str(), cv::Point(5, 250), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar::all(128), 3, 8);
@@ -81,36 +162,72 @@ void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
oss.str("");
oss.clear();
#endif
cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), termCriteria);
// Fix the detected corners to better approximate the markers. And
// push their codes to the output vector.
cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), TERM_CRITERIA);
codes.push_back(valid_markers[i].code);
}
// Render the detected markers on top of the input image.
cont = cv::Mat::zeros(img.size(), CV_8UC3);
renderMarkers(valid_markers, cont);
img = img + cont;
// Clear the local vectors.
markers.clear();
contours.clear();
valid_markers.clear();
}
void calibrateCamera(cv::Mat & img){
bool findCalibrationPattern(points_vector & corners, cv::Mat & img){
bool patternfound;
points_vector corners;
cv::Mat gray;
// Convert the input image to grayscale and attempt to find the
// calibration pattern.
cv::cvtColor(img, gray, CV_BGR2GRAY);
patternfound = cv::findChessboardCorners(gray, checkersPatternSize, corners, PATTERN_DETECTION_PARAMS);
patternfound = cv::findChessboardCorners(gray, CHESSBOARD_PATTERN_SIZE, corners, PATTERN_DETECTION_FLAGS);
// If the pattern was found then fix the detected points a bit.
if(patternfound)
cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1), termCriteria);
cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1), TERM_CRITERIA);
cv::drawChessboardCorners(img, checkersPatternSize, cv::Mat(corners), patternfound);
// Render the detected pattern.
cv::drawChessboardCorners(img, CHESSBOARD_PATTERN_SIZE, cv::Mat(corners), patternfound);
return patternfound;
}
double getCameraParameters(cv::Mat & camera_matrix, cv::Mat & dist_coeffs, std::vector<points_vector> & image_points, cv::Size image_size){
std::vector<cv::Mat> rvecs, tvecs;
std::vector<points_vector_3D> object_points;
points_vector_3D corner_points;
// Build the reference object points vector;
for(int i = 0; i < CHESSBOARD_PATTERN_SIZE.height; i++){
for(int j = 0; j < CHESSBOARD_PATTERN_SIZE.width; j++){
corner_points.push_back(cv::Point3f(float( j * SQUARE_SIZE ), float( i * SQUARE_SIZE ), 0));
}
}
object_points.push_back(corner_points);
object_points.resize(image_points.size(), object_points[0]);
// Build a camera matrix.
camera_matrix = cv::Mat::eye(3, 3, CV_64F);
// Build the distortion coefficients matrix.
dist_coeffs = cv::Mat::zeros(8, 1, CV_64F);
// Calibrate and return the reprojection error.
return cv::calibrateCamera(object_points, image_points, image_size, camera_matrix, dist_coeffs, rvecs, tvecs, 0, TERM_CRITERIA);
}
/******************************************************************************
* PRIVATE HELPER FUNCTIONS *
******************************************************************************/
void findContours(cv::Mat & img, contours_vector & v, int minP){
std::vector<std::vector<cv::Point> > c;
contours_vector c;
cv::findContours(img, c, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
v.clear();
@@ -339,8 +456,11 @@ float perimeter(points_vector & p){
return per;
}
/******************************************************************************
* CLASS METHODS *
******************************************************************************/
Marker::~Marker(){
points.clear();
}
}

25
jni/marker.hpp
View File

@@ -17,15 +17,12 @@
#define MARKER_HPP
#include <vector>
#include <opencv2/opencv.hpp>
namespace nxtar{
class Marker;
typedef std::vector<std::vector<cv::Point> > contours_vector;
typedef std::vector<cv::Point2f> points_vector;
typedef std::vector<Marker> markers_vector;
class Marker{
public:
@@ -34,8 +31,26 @@ public:
int code;
};
/**
* Detect all 5x5 markers in the input image and return their codes in the
* output vector.
*/
void getAllMarkers(std::vector<int> &, cv::Mat &);
void calibrateCamera(cv::Mat &);
/**
* Find a chessboard calibration pattern in the input image. Returns true
* if the pattern was found, false otherwise. The calibration points
* detected on the image are saved in the output vector.
*/
bool findCalibrationPattern(points_vector &, cv::Mat &);
/**
* Sets the camera matrix and the distortion coefficients for the camera
* that captured the input image points into the output matrices. Returns
* the reprojection error as returned by cv::calibrateCamera.
*/
double getCameraParameters(cv::Mat &, cv::Mat &, std::vector<points_vector> &, cv::Size);
}
#endif

2
project.properties
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@@ -9,4 +9,4 @@
# Project target.
target=android-19
android.library.reference.1=../../../../../NVPACK/OpenCV-2.4.5-Tegra-sdk-r2/sdk/java
android.library.reference.1=../../../../../Documents/OpenCV-2.4.8-android-sdk/sdk/java

62
src/ve/ucv/ciens/ccg/nxtar/MainActivity.java
View File

@@ -17,16 +17,13 @@ package ve.ucv.ciens.ccg.nxtar;
import java.io.ByteArrayOutputStream;
import org.opencv.android.BaseLoaderCallback;
import org.opencv.android.LoaderCallbackInterface;
import org.opencv.android.OpenCVLoader;
import org.opencv.android.Utils;
import org.opencv.core.Mat;
import org.opencv.imgproc.Imgproc;
import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor;
import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
import ve.ucv.ciens.ccg.nxtar.interfaces.OSFunctionalityProvider;
import android.content.Context;
import android.content.pm.ActivityInfo;
import android.graphics.Bitmap;
@@ -43,39 +40,37 @@ import com.badlogic.gdx.backends.android.AndroidApplication;
import com.badlogic.gdx.backends.android.AndroidApplicationConfiguration;
import com.badlogic.gdx.controllers.mappings.Ouya;
public class MainActivity extends AndroidApplication implements Toaster, MulticastEnabler, CVProcessor{
public class MainActivity extends AndroidApplication implements OSFunctionalityProvider, CVProcessor{
private static final String TAG = "NXTAR_ANDROID_MAIN";
private static final String CLASS_NAME = MainActivity.class.getSimpleName();
private static boolean ocvOn = false;
private WifiManager wifiManager;
private MulticastLock multicastLock;
private Handler uiHandler;
private Context uiContext;
private static boolean ocvOn = false;
private BaseLoaderCallback loaderCallback;
private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
public native boolean findCalibrationPattern(long inMat, long outMat, float[] points);
static{
if(!OpenCVLoader.initDebug()){
System.exit(1);
}
if(!OpenCVLoader.initDebug())
ocvOn = false;
try{
System.loadLibrary("cvproc");
ocvOn = true;
}catch(UnsatisfiedLinkError u){
System.exit(1);
ocvOn = false;
}
}
public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
public native void findCalibrationPattern(long inMat, long outMat);
@Override
public void onCreate(Bundle savedInstanceState){
super.onCreate(savedInstanceState);
//ocvOn = false;
if(!Ouya.runningOnOuya){
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
}else{
@@ -92,30 +87,12 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
cfg.useCompass = false;
cfg.useWakelock = true;
loaderCallback = new BaseLoaderCallback(this){
@Override
public void onManagerConnected(int status){
switch(status){
case LoaderCallbackInterface.SUCCESS:
System.loadLibrary("cvproc");
ocvOn = true;
Toast.makeText(uiContext, R.string.ocv_success, Toast.LENGTH_LONG).show();
break;
default:
Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show();
Gdx.app.exit();
break;
}
}
};
//OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_7, this, loaderCallback);
initialize(new NxtARCore(this), cfg);
}
////////////////////////////////
// Toaster interface methods. //
////////////////////////////////
////////////////////////////////////////////////
// OSFunctionalityProvider interface methods. //
////////////////////////////////////////////////
@Override
public void showShortToast(final String msg){
uiHandler.post(new Runnable(){
@@ -136,9 +113,6 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
});
}
/////////////////////////////////////////
// MulticastEnabler interface methods. //
/////////////////////////////////////////
@Override
public void enableMulticast(){
Gdx.app.log(TAG, CLASS_NAME + ".enableMulticast() :: Requesting multicast lock.");
@@ -156,8 +130,11 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
}
}
////////////////////////////////////
// CVProcessor interface methods. //
////////////////////////////////////
@Override
public CVData processFrame(byte[] frame, int w, int h) {
public CVData findMarkersInFrame(byte[] frame, int w, int h) {
if(ocvOn){
int codes[] = new int[15];
Bitmap tFrame, mFrame;
@@ -168,8 +145,7 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
Mat outImg = new Mat();
Utils.bitmapToMat(tFrame, inImg);
//getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
findCalibrationPattern(inImg.getNativeObjAddr(), outImg.getNativeObjAddr());
getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
Mat temp = new Mat();
Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);