WallyHackenslacker/NxtAR-android
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Fixed rotation matrix. Added camera parameters getter methods.

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Wally Hackenslacker
2014-05-15 12:13:43 -04:30
parent 2e176aae47
commit 67c4c99cc5
2 changed files with 26 additions and 55 deletions
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15
jni/cv_proc.cpp
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@@ -20,7 +20,7 @@
#include "marker.hpp"
#define LOG_ENABLED
//#define LOG_ENABLED
#define MAX_MARKERS 5
#define TRANSLATION_VECTOR_POINTS 3
#define ROTATION_MATRIX_SIZE 9
@@ -52,9 +52,9 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
cv::Mat& mCam = *(cv::Mat*)camMat;
cv::Mat& mDist = *(cv::Mat*)distMat;
jint * _codes = env->GetIntArrayElements(codes, 0);
jfloat * _tr = env->GetFloatArrayElements(translations, 0);
jfloat * _rt = env->GetFloatArrayElements(rotations, 0);
jint * _codes = env->GetIntArrayElements(codes, 0);
jfloat * _tr = env->GetFloatArrayElements(translations, 0);
jfloat * _rt = env->GetFloatArrayElements(rotations, 0);
// Convert the input image to the BGR color space.
log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
@@ -79,12 +79,9 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
}
for(int k = 0; k < vMarkers.size(); k++){
log(TAG, "getMarkerCodesAndLocations(): Rotation matrix:");
for(int row = 0; row < 3; row++){
for(int col = 0; col < 3; col++){
sprintf(codeMsg, "%f ", vMarkers[k].rotation.at<jfloat>(row, col));
log(TAG, codeMsg);
_rt[row + (col * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
_rt[col + (row * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
}
}
}
@@ -128,7 +125,7 @@ JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrat
if(found){
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 ] = (jfloat)v_points[i].x;
_points[p + 1] = (jfloat)v_points[i].y;
}
}