diff --git a/.cproject b/.cproject new file mode 100644 index 0000000..6d33835 --- /dev/null +++ b/.cproject @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.settings/org.eclipse.cdt.codan.core.prefs b/.settings/org.eclipse.cdt.codan.core.prefs new file mode 100644 index 0000000..77386c2 --- /dev/null +++ b/.settings/org.eclipse.cdt.codan.core.prefs @@ -0,0 +1,67 @@ +eclipse.preferences.version=1 +org.eclipse.cdt.codan.checkers.errnoreturn=Warning +org.eclipse.cdt.codan.checkers.errnoreturn.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},implicit\=>false} +org.eclipse.cdt.codan.checkers.errreturnvalue=Error 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+org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem=Warning +org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true},macro\=>true,exceptions\=>("@(\#)","$Id")} +org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem=Error +org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem.params={launchModes\=>{RUN_ON_FULL_BUILD\=>true,RUN_ON_INC_BUILD\=>true,RUN_ON_FILE_OPEN\=>false,RUN_ON_FILE_SAVE\=>false,RUN_AS_YOU_TYPE\=>true,RUN_ON_DEMAND\=>true}} diff --git a/jni/Android.mk b/jni/Android.mk index 6cad0e2..8c132e2 100644 --- a/jni/Android.mk +++ b/jni/Android.mk @@ -26,4 +26,67 @@ include $(CLEAR_VARS) LOCAL_MODULE := gdx-freetype LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx-freetype.so -include $(PREBUILT_SHARED_LIBRARY) \ No newline at end of file +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_java +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libopencv_java.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_info +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libopencv_info.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_220 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r2.2.0.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_233 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r2.3.3.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_301 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r3.0.1.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_400 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.0.0.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_403 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.0.3.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_411 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.1.1.so + +include $(PREBUILT_SHARED_LIBRARY) + +include $(CLEAR_VARS) + +LOCAL_MODULE := ocv_tegra_native_camera_420 +LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.2.0.so + +include $(PREBUILT_SHARED_LIBRARY) diff --git a/jni/cv_proc.cpp b/jni/cv_proc.cpp index 26d90ce..bb2b9a2 100644 --- a/jni/cv_proc.cpp +++ b/jni/cv_proc.cpp @@ -16,10 +16,13 @@ #include #include #include +#include #include "marker.hpp" -//#define CAN_LOG +#define CAN_LOG +#define POINTS_PER_CALIBRATION_SAMPLE 54 +#define CALIBRATION_SAMPLES 10 #ifdef CAN_LOG #define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG)) @@ -27,10 +30,13 @@ #define log(TAG, MSG) (1 + 1) #endif -extern "C"{ - const char * TAG = "CVPROC_NATIVE"; +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 vCodes; @@ -60,6 +66,9 @@ JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAn env->ReleaseIntArrayElements(codes, _codes, 0); } +/** + * + */ 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; @@ -91,4 +100,47 @@ JNIEXPORT jboolean JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_findCalibrat return (jboolean)found; } +/** + * + */ +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; + std::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& mFrame = *(cv::Mat*)addrMatFrame; + jfloat * _points = env->GetFloatArrayElements(points, 0); + + // Prepare the image points data structure. + log(TAG, "calibrateCameraParameters(): Preparing image points."); + for(int i = 0; i < CALIBRATION_SAMPLES; i++){ + nxtar::points_vector tempVector; + for(int j = 0, p = 0; j < POINTS_PER_CALIBRATION_SAMPLE; j++, p += 2){ + tempVector.push_back(cv::Point2f(_points[p], _points[p + 1])); + } + imagePoints.push_back(tempVector); + } + + // Get the camera parameters. + log(TAG, "calibrateCameraParameters(): Getting camera parameters."); + error = nxtar::getCameraParameters(mIn, mOut, imagePoints, mFrame.size()); + + // Clear the image points. + log(TAG, "calibrateCameraParameters(): Clearing memory."); + for(int i = 0; i < imagePoints.size(); i++){ + imagePoints[i].clear(); + } + imagePoints.clear(); + + // Release native memory. + log(TAG, "calibrateCameraParameters(): Releasing native data."); + env->ReleaseFloatArrayElements(points, _points, 0); + + // Return the calibration error as calculated by OpenCV. + return error; +} + } diff --git a/jni/marker.cpp b/jni/marker.cpp index 664669f..660b4dc 100644 --- a/jni/marker.cpp +++ b/jni/marker.cpp @@ -16,6 +16,7 @@ #include #include #include +#include #ifdef DESKTOP #include #endif @@ -394,9 +395,9 @@ cv::Mat rotate(cv::Mat in){ cv::Mat out; in.copyTo(out); - for (int i=0;i(i,j)=in.at(in.cols-j-1,i); + for (int i = 0; i < in.rows; i++){ + for (int j = 0; j < in.cols; j++){ + out.at(i, j)=in.at(in.cols-j - 1, i); } } diff --git a/src/ve/ucv/ciens/ccg/nxtar/MainActivity.java b/src/ve/ucv/ciens/ccg/nxtar/MainActivity.java index 96c40ec..408926a 100644 --- a/src/ve/ucv/ciens/ccg/nxtar/MainActivity.java +++ b/src/ve/ucv/ciens/ccg/nxtar/MainActivity.java @@ -17,6 +17,8 @@ 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; @@ -45,6 +47,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP private static final String TAG = "NXTAR_ANDROID_MAIN"; private static final String CLASS_NAME = MainActivity.class.getSimpleName(); + private static final ByteArrayOutputStream outputStream = new ByteArrayOutputStream(); private static boolean ocvOn = false; private static Mat cameraMatrix, distortionCoeffs; @@ -52,20 +55,23 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP private MulticastLock multicastLock; private Handler uiHandler; private Context uiContext; - private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream(); + private BaseLoaderCallback loaderCallback; public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes); public native boolean findCalibrationPattern(long inMat, long outMat, float[] points); + public native double calibrateCameraParameters(long camMat, long distMat, long frame, float[] calibrationPoints); static{ - if(!OpenCVLoader.initDebug()) - ocvOn = false; + if(Ouya.runningOnOuya){ + if(!OpenCVLoader.initDebug()) + ocvOn = false; - try{ - System.loadLibrary("cvproc"); - ocvOn = true; - }catch(UnsatisfiedLinkError u){ - ocvOn = false; + try{ + System.loadLibrary("cvproc"); + ocvOn = true; + }catch(UnsatisfiedLinkError u){ + ocvOn = false; + } } } @@ -92,6 +98,26 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP cfg.useCompass = false; cfg.useWakelock = true; + if(!ocvOn && !Ouya.runningOnOuya){ + loaderCallback = new BaseLoaderCallback(this){ + @Override + public void onManagerConnected(int status){ + switch(status){ + case LoaderCallbackInterface.SUCCESS: + System.loadLibrary("cvproc"); + ocvOn = true; + break; + default: + Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show(); + Gdx.app.exit(); + break; + } + } + }; + + OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_8, this, loaderCallback); + } + initialize(new NxtARCore(this), cfg); } @@ -138,6 +164,10 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP //////////////////////////////////// // CVProcessor interface methods. // //////////////////////////////////// + + /** + * + */ @Override public CVMarkerData findMarkersInFrame(byte[] frame){ if(ocvOn){ @@ -174,6 +204,9 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP } } + /** + * + */ @Override public CVCalibrationData findCalibrationPattern(byte[] frame){ if(ocvOn){ @@ -210,6 +243,10 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP return null; } } + + /** + * + */ @Override public byte[] undistortFrame(byte[] frame){ if(ocvOn){ @@ -243,4 +280,32 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP return null; } } + + /** + * + */ + @Override + public void calibrateCamera(float[][] calibrationSamples, byte[] frame) { + if(ocvOn){ + float[] calibrationPoints = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2 * ProjectConstants.CALIBRATION_SAMPLES]; + int w = ProjectConstants.CALIBRATION_PATTERN_POINTS * 2; + Bitmap tFrame; + Mat inImg = new Mat(); + + for(int i = 0; i < ProjectConstants.CALIBRATION_SAMPLES; i++){ + for(int j = 0, p = 0; j < ProjectConstants.CALIBRATION_PATTERN_POINTS; j++, p += 2){ + calibrationPoints[p + (w * i)] = calibrationSamples[i][p]; + calibrationPoints[(p + 1) + (w * i)] = calibrationSamples[i][p + 1]; + } + } + + tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length); + Utils.bitmapToMat(tFrame, inImg); + + calibrateCameraParameters(cameraMatrix.getNativeObjAddr(), distortionCoeffs.getNativeObjAddr(), inImg.getNativeObjAddr(), calibrationPoints); + + }else{ + Gdx.app.debug(TAG, CLASS_NAME + ".calibrateCamera(): OpenCV is not ready or failed to load."); + } + } }