WallyHackenslacker/NxtAR-android
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Wally Hackenslacker
2014-05-06 18:28:18 -04:30
parent 31dd89f30e
commit e5b9bd681b
2 changed files with 112 additions and 25 deletions
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36
jni/cv_proc.cpp
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@@ -20,11 +20,11 @@
#include "marker.hpp"
//#define CAN_LOG
//#define LOG_ENABLED
#define POINTS_PER_CALIBRATION_SAMPLE 54
#define CALIBRATION_SAMPLES 10
#ifdef CAN_LOG
#ifdef LOG_ENABLED
#define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG))
#else
#define log(TAG, MSG) ;
@@ -35,65 +35,79 @@ const char * TAG = "CVPROC_NATIVE";
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.");
// Get the native object addresses.
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jint * _codes = env->GetIntArrayElements(codes, 0);
cv::Mat temp;
// Convert the input image to the BGR color space.
log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
cv::cvtColor(myuv, temp, CV_RGB2BGR);
// Find all markers in the input image.
log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
nxtar::getAllMarkers(vCodes, temp);
// 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];
}
vCodes.clear();
// Convert the output image back to the RGB color space.
cv::cvtColor(temp, mbgr, CV_BGR2RGB);
// Release native data.
log(TAG, "getMarkerCodesAndLocations(): Releasing native data.");
env->ReleaseIntArrayElements(codes, _codes, 0);
}
/**
*
* JNI wrapper around the nxtar::findCalibrationPattern() method.
*/
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.");
// Get the native object addresses.
cv::Mat& myuv = *(cv::Mat*)addrMatIn;
cv::Mat& mbgr = *(cv::Mat*)addrMatOut;
jfloat * _points = env->GetFloatArrayElements(points, 0);
cv::Mat temp;
// Convert the input image to the BGR color space.
log(TAG, "findCalibrationPattern(): Converting color space before processing.");
cv::cvtColor(myuv, temp, CV_RGB2BGR);
// Find the calibration points in the input image.
log(TAG, "findCalibrationPattern(): Finding calibration pattern.");
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){
_points[p] = (jfloat)v_points[i].x;
_points[p + 1] = (jfloat)v_points[i].y;
// If the points were found then save them to the output array.
if(found){
log(TAG, "findCalibrationPattern(): Copying calibration points.");
for(size_t i = 0, p = 0; i < v_points.size(); i++, p += 2){
_points[p] = (jfloat)v_points[i].x;
_points[p + 1] = (jfloat)v_points[i].y;
}
}
// Convert the output image back to the RGB color space.
cv::cvtColor(temp, mbgr, CV_BGR2RGB);
// Release native data.
log(TAG, "findCalibrationPattern(): Releasing native data.");
env->ReleaseFloatArrayElements(points, _points, 0);
@@ -101,7 +115,7 @@ 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;