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

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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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97
src/ve/ucv/ciens/ccg/nxtar/MainActivity.java
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@@ -24,8 +24,8 @@ 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.OSFunctionalityProvider;
import ve.ucv.ciens.ccg.nxtar.interfaces.AndroidFunctionalityWrapper;
import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor;
import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
import android.content.Context;
import android.content.pm.ActivityInfo;
@@ -42,6 +42,8 @@ import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.backends.android.AndroidApplication;
import com.badlogic.gdx.backends.android.AndroidApplicationConfiguration;
import com.badlogic.gdx.controllers.mappings.Ouya;
import com.badlogic.gdx.math.Matrix3;
import com.badlogic.gdx.math.Vector3;
/**
* <p>The main activity of the application.</p>
@@ -49,7 +51,7 @@ import com.badlogic.gdx.controllers.mappings.Ouya;
* <p>Provides operating system services to the LibGDX platform
* independant code, and handles OpenCV initialization and api calls.</p>
*/
public class MainActivity extends AndroidApplication implements OSFunctionalityProvider, CVProcessor{
public class MainActivity extends AndroidApplication implements AndroidFunctionalityWrapper, ImageProcessor{
/**
* Tag used for logging.
*/
@@ -115,9 +117,13 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
*
* @param inMat INPUT. The image to analize.
* @param outMat OUTPUT. The image with the markers highlighted.
* @param codes OUTPUT. The codes for each marker detected. Must be 15 elements long.
* @param codes OUTPUT. The codes for each marker detected. Must be {@link ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS} elements long.
* @param camMat INPUT. The intrinsic camera matrix.
* @param distMat INPUT. The distortion coefficients of the camera.
* @param translations OUTPUT. The markers pose translations. Must be {@link ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS} * 3 elements long.
* @param rotations OUTPUT. The markers pose rotations. Must be {@link ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS} * 9 elements long.
*/
private native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
private native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes, long camMat, long distMat, float[] translations, float[] rotations);
/**
* <p>Wrapper for the findCalibrationPattern native function.</p>
@@ -298,7 +304,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
/**
* <p>Implementation of the findMarkersInFrame method.</p>
*
* <p>This implementation finds up to 15 markers in the input
* <p>This implementation finds up to {@link ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS} markers in the input
* image and returns their codes and locations in the CVMarkerData
* structure. The markers are higlihted in the input image.</p>
*
@@ -307,37 +313,64 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
* detected marker codes and their respective locations.
*/
@Override
public CVMarkerData findMarkersInFrame(byte[] frame){
public MarkerData findMarkersInFrame(byte[] frame){
if(ocvOn){
int codes[] = new int[15];
Bitmap tFrame, mFrame;
Mat inImg = new Mat();
Mat outImg = new Mat();
if(cameraCalibrated){
int[] codes = new int[ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS];
float[] translations = new float[ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS * 3];
float[] rotations = new float[ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS * 9];
MarkerData data;
Bitmap tFrame, mFrame;
Mat inImg = new Mat();
Mat outImg = new Mat();
// Decode the input image and convert it to an OpenCV matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Fill the codes array with -1 to indicate markers that were not found;
for(int i : codes)
codes[i] = -1;
// Find up to 15 markers in the input image.
getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
// Decode the input image and convert it to an OpenCV matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// 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);
// Find the markers in the input image.
getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes, cameraMatrix.getNativeObjAddr(), distortionCoeffs.getNativeObjAddr(), translations, rotations);
// Create the output data structure.
CVMarkerData data = new CVMarkerData();
data.outFrame = outputStream.toByteArray();
data.markerCodes = codes;
// 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);
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
// Create and fill the output data structure.
data = new MarkerData();
data.outFrame = outputStream.toByteArray();
data.markerCodes = codes;
data.rotationMatrices = new Matrix3[ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS];
data.translationVectors = new Vector3[ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS];
return data;
for(int i = 0, p = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++, p += 3){
data.translationVectors[i] = new Vector3(translations[p], translations[p + 1], translations[p + 2]);
}
// TODO: Check that the matrix is being copied correctly.
for(int k = 0; k < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; k++){
data.rotationMatrices[k] = new Matrix3();
for(int row = 0; row < 3; row++){
for(int col = 0; col < 3; col++){
data.rotationMatrices[k].val[col + (row * 3)] = rotations[col + (row * 3) + (9 * k)];
}
}
}
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return data;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".findMarkersInFrame(): The camera has not been calibrated.");
return null;
}
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".findMarkersInFrame(): OpenCV is not ready or failed to load.");
return null;
@@ -358,13 +391,13 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
* calibration points array is null.
*/
@Override
public CVCalibrationData findCalibrationPattern(byte[] frame){
public CalibrationData 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();
CalibrationData data = new CalibrationData();
// Decode the input frame and convert it to an OpenCV Matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
@@ -488,7 +521,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
* @return True if and only if OpenCV initialized succesfully and calibrateCamera has been called previously.
*/
@Override
public boolean cameraIsCalibrated() {
public boolean isCameraCalibrated() {
return ocvOn && cameraCalibrated;
}
}