WallyHackenslacker/NxtAR-android
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Added c/c++ builder and finished calibration jni calls.

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Wally Hackenslacker
2014-04-30 16:19:59 -04:30
parent 784b14c9e9
commit c29f36a997
6 changed files with 343 additions and 15 deletions
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65
jni/Android.mk
View File

@@ -26,4 +26,67 @@ include $(CLEAR_VARS)
LOCAL_MODULE := gdx-freetype
LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx-freetype.so
include $(PREBUILT_SHARED_LIBRARY)
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)

58
jni/cv_proc.cpp
View File

@@ -16,10 +16,13 @@
#include <jni.h>
#include <android/log.h>
#include <stdio.h>
#include <stddef.h>
#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<int> 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<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& 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;
}
}

7
jni/marker.cpp
View File

@@ -16,6 +16,7 @@
#include <algorithm>
#include <utility>
#include <limits>
#include <stddef.h>
#ifdef DESKTOP
#include <iostream>
#endif
@@ -394,9 +395,9 @@ cv::Mat rotate(cv::Mat in){
cv::Mat out;
in.copyTo(out);
for (int i=0;i<in.rows;i++){
for (int j=0;j<in.cols;j++){
out.at<uchar>(i,j)=in.at<uchar>(in.cols-j-1,i);
for (int i = 0; i < in.rows; i++){
for (int j = 0; j < in.cols; j++){
out.at<uchar>(i, j)=in.at<uchar>(in.cols-j - 1, i);
}
}