WallyHackenslacker/NxtAR-android
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Implemented the calibration interface.

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This commit is contained in:
Wally Hackenslacker
2014-04-30 13:05:36 -04:30
parent b3d678f078
commit 784b14c9e9
2 changed files with 92 additions and 18 deletions
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18
jni/cv_proc.cpp
View File

@@ -23,13 +23,14 @@
#ifdef CAN_LOG
#define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG))
const char * TAG = "CVPROC_NATIVE";
#else
#define log(TAG, MSG) (1 + 1)
#endif
extern "C"{
const char * TAG = "CVPROC_NATIVE";
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;
@@ -39,12 +40,13 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jint * _codes = env->GetIntArrayElements(codes, 0);
cv::Mat temp;
log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
cv::cvtColor(myuv, temp, CV_RGB2BGR);
log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
nxtar::getAllMarkers(vCodes, mbgr);
nxtar::getAllMarkers(vCodes, temp);
log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
for(int i = 0; i < vCodes.size() && i < 15; i++){
@@ -52,8 +54,9 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
}
vCodes.clear();
log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
cv::cvtColor(temp, mbgr, CV_BGR2RGB);
log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
env->ReleaseIntArrayElements(codes, _codes, 0);
}
@@ -66,12 +69,13 @@ JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrat
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jfloat * _points = env->GetFloatArrayElements(points, 0);
cv::Mat temp;
log(TAG, "findCalibrationPattern(): Converting color space before processing.");
cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
cv::cvtColor(myuv, temp, CV_RGB2BGR);
log(TAG, "findCalibrationPattern(): Finding calibration pattern.");
found = nxtar::findCalibrationPattern(v_points, mbgr);
found = nxtar::findCalibrationPattern(v_points, temp);
log(TAG, "findCalibrationPattern(): Copying calibration points.");
for(size_t i = 0, p = 0; i < v_points.size(); i++, p += 2){
@@ -79,6 +83,8 @@ JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrat
_points[p + 1] = (jfloat)v_points[i].y;
}
cv::cvtColor(temp, mbgr, CV_BGR2RGB);
log(TAG, "findCalibrationPattern(): Releasing native data.");
env->ReleaseFloatArrayElements(points, _points, 0);

92
src/ve/ucv/ciens/ccg/nxtar/MainActivity.java
View File

@@ -24,6 +24,7 @@ import org.opencv.imgproc.Imgproc;
import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor;
import ve.ucv.ciens.ccg.nxtar.interfaces.OSFunctionalityProvider;
import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
import android.content.Context;
import android.content.pm.ActivityInfo;
import android.graphics.Bitmap;
@@ -45,6 +46,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
private static final String CLASS_NAME = MainActivity.class.getSimpleName();
private static boolean ocvOn = false;
private static Mat cameraMatrix, distortionCoeffs;
private WifiManager wifiManager;
private MulticastLock multicastLock;
@@ -71,6 +73,9 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
public void onCreate(Bundle savedInstanceState){
super.onCreate(savedInstanceState);
cameraMatrix = new Mat();
distortionCoeffs = new Mat();
if(!Ouya.runningOnOuya){
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
}else{
@@ -134,7 +139,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
// CVProcessor interface methods. //
////////////////////////////////////
@Override
public CVData findMarkersInFrame(byte[] frame, int w, int h) {
public CVMarkerData findMarkersInFrame(byte[] frame){
if(ocvOn){
int codes[] = new int[15];
Bitmap tFrame, mFrame;
@@ -147,14 +152,14 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
Mat temp = new Mat();
Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);
//Mat temp = new Mat();
//Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);
mFrame = Bitmap.createBitmap(temp.cols(), temp.rows(), Bitmap.Config.RGB_565);
Utils.matToBitmap(temp, mFrame);
mFrame = Bitmap.createBitmap(outImg.cols(), outImg.rows(), Bitmap.Config.RGB_565);
Utils.matToBitmap(outImg, mFrame);
mFrame.compress(CompressFormat.JPEG, 100, outputStream);
CVData data = new CVData();
CVMarkerData data = new CVMarkerData();
data.outFrame = outputStream.toByteArray();
data.markerCodes = codes;
@@ -164,15 +169,78 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
return data;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".processFrame(): OpenCV is not ready or failed to load.");
Gdx.app.debug(TAG, CLASS_NAME + ".findMarkersInFrame(): OpenCV is not ready or failed to load.");
return null;
}
}
@Override
public void calibrateCamera() {
// TODO Auto-generated method stub
public CVCalibrationData findCalibrationPattern(byte[] frame){
if(ocvOn){
boolean found;
float points[] = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2];
Bitmap tFrame, mFrame;
Mat inImg = new Mat(), outImg = new Mat();
CVCalibrationData data = new CVCalibrationData();
// Decode the input frame and convert it to an OpenCV Matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Attempt to find the calibration pattern in the input frame.
found = findCalibrationPattern(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), points);
// Encode the output image as a JPEG image.
mFrame = Bitmap.createBitmap(outImg.cols(), outImg.rows(), Bitmap.Config.RGB_565);
Utils.matToBitmap(outImg, mFrame);
mFrame.compress(CompressFormat.JPEG, 100, outputStream);
// Prepare the output data structure.
data.outFrame = outputStream.toByteArray();
data.calibrationPoints = found ? points : null;
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return data;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".findCalibrationPattern(): OpenCV is not ready or failed to load.");
return null;
}
}
}
@Override
public byte[] undistortFrame(byte[] frame){
if(ocvOn){
byte undistortedFrame[];
Bitmap tFrame, mFrame;
Mat inImg = new Mat(), outImg = new Mat();
// Decode the input frame and convert it to an OpenCV Matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Apply the undistort correction to the input frame.
Imgproc.undistort(inImg, outImg, cameraMatrix, distortionCoeffs);
// Encode the output image as a JPEG image.
mFrame = Bitmap.createBitmap(outImg.cols(), outImg.rows(), Bitmap.Config.RGB_565);
Utils.matToBitmap(outImg, mFrame);
mFrame.compress(CompressFormat.JPEG, 100, outputStream);
// Prepare the return frame.
undistortedFrame = outputStream.toByteArray();
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return undistortedFrame;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".undistortFrame(): OpenCV is not ready or failed to load.");
return null;
}
}
}