WallyHackenslacker/NxtAR-android
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Added marker pose estimation. Not tested yet.

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This commit is contained in:
Wally Hackenslacker
2014-05-13 18:30:32 -04:30
parent ea33f1e725
commit b0151e85e9
4 changed files with 166 additions and 63 deletions
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68
jni/cv_proc.cpp
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@@ -21,6 +21,9 @@
#include "marker.hpp"
//#define LOG_ENABLED
#define MAX_MARKERS 5
#define TRANSLATION_VECTOR_POINTS 3
#define ROTATION_MATRIX_SIZE 9
#define POINTS_PER_CALIBRATION_SAMPLE 54
#define CALIBRATION_SAMPLES 10
@@ -37,17 +40,21 @@ extern "C"{
/**
* JNI wrapper around the nxtar::getAllMarkers() method.
*/
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;
cv::Mat temp;
log(TAG, "getMarkerCodesAndLocations(): Requesting native data.");
JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAndLocations(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jintArray codes, jlong camMat, jlong distMat, jfloatArray translations, jfloatArray rotations){
char codeMsg[128];
std::vector<int> vCodes;
nxtar::markers_vector vMarkers;
cv::Mat temp;
// Get the native object addresses.
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
log(TAG, "getMarkerCodesAndLocations(): Requesting native data.");
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
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);
// Convert the input image to the BGR color space.
log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
@@ -55,14 +62,32 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
// Find all markers in the input image.
log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
nxtar::getAllMarkers(vCodes, temp);
nxtar::getAllMarkers(vMarkers, temp);
nxtar::estimateMarkerPosition(vMarkers, mCam, mDist);
// Copy the marker codes to the output vector.
log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
for(int i = 0; i < vCodes.size() && i < 15; i++){
_codes[i] = (jint)vCodes[i];
for(size_t i = 0; i < vMarkers.size() && i < MAX_MARKERS; i++){
_codes[i] = (jint)vMarkers[i].code;
}
vCodes.clear();
// Copy the geometric transformations to the output vectors.
for(int i = 0, p = 0; i < vMarkers.size(); i++, p += 3){
_tr[p ] = vMarkers[i].translation.at<jfloat>(0);
_tr[p + 1] = vMarkers[i].translation.at<jfloat>(1);
_tr[p + 2] = vMarkers[i].translation.at<jfloat>(2);
}
for(int k = 0; k < vMarkers.size(); k++){
for(int row = 0; row < 3; row++){
for(int col = 0; col < 3; col++){
_rt[col + (row * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
}
}
}
// Clear marker memory.
vMarkers.clear();
// Convert the output image back to the RGB color space.
cv::cvtColor(temp, mbgr, CV_BGR2RGB);
@@ -70,6 +95,8 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
// Release native data.
log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
env->ReleaseIntArrayElements(codes, _codes, 0);
env->ReleaseFloatArrayElements(translations, _tr, 0);
env->ReleaseFloatArrayElements(rotations, _rt, 0);
}
/**
@@ -77,14 +104,13 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn
*/
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;
cv::Mat temp;
log(TAG, "findCalibrationPattern(): Requesting native data.");
bool found;
cv::Mat temp;
// Get the native object addresses.
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
log(TAG, "findCalibrationPattern(): Requesting native data.");
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jfloat * _points = env->GetFloatArrayElements(points, 0);
// Convert the input image to the BGR color space.
@@ -118,13 +144,13 @@ JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrat
* JNI wrapper around the nxtar::getCameraParameters() method.
*/
JNIEXPORT jdouble JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_calibrateCameraParameters(JNIEnv* env, jobject jobj, jlong addrMatIn, jlong addrMatOut, jlong addrMatFrame, jfloatArray points){
double error;
double error;
std::vector<nxtar::points_vector> imagePoints;
// Get native object addresses.
log(TAG, "calibrateCameraParameters(): Requesting native data.");
cv::Mat& mIn = *(cv::Mat*)addrMatIn;
cv::Mat& mOut = *(cv::Mat*)addrMatOut;
cv::Mat& mIn = *(cv::Mat*)addrMatIn;
cv::Mat& mOut = *(cv::Mat*)addrMatOut;
cv::Mat& mFrame = *(cv::Mat*)addrMatFrame;
jfloat * _points = env->GetFloatArrayElements(points, 0);