WallyHackenslacker/NxtAR-android
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Added intradocumentation.

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Wally Hackenslacker
2014-05-05 12:32:50 -04:30
parent a3431937d0
commit f04c5806d1
1 changed files with 130 additions and 49 deletions
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179
src/ve/ucv/ciens/ccg/nxtar/MainActivity.java
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@@ -43,6 +43,12 @@ import com.badlogic.gdx.backends.android.AndroidApplication;
import com.badlogic.gdx.backends.android.AndroidApplicationConfiguration;
import com.badlogic.gdx.controllers.mappings.Ouya;
/**
* <p>The main activity of the application.</p>
*
* <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{
private static final String TAG = "NXTAR_ANDROID_MAIN";
private static final String CLASS_NAME = MainActivity.class.getSimpleName();
@@ -62,6 +68,10 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
public native boolean findCalibrationPattern(long inMat, long outMat, float[] points);
public native double calibrateCameraParameters(long camMat, long distMat, long frame, float[] calibrationPoints);
/**
* <p>Static block. Tries to load OpenCV and the native method implementations
* statically if running on an OUYA device.</p>
*/
static{
if(Ouya.runningOnOuya){
if(!OpenCVLoader.initDebug())
@@ -76,28 +86,41 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
}
}
/**
* <p>Initializes this activity</p>
*
* <p>This method handles the initialization of LibGDX and OpenCV. OpenCV is
* loaded the asynchronous method if the devices is not an OUYA console.
*/
@Override
public void onCreate(Bundle savedInstanceState){
super.onCreate(savedInstanceState);
cameraCalibrated = false;
// Set screen orientation. Portrait on mobile devices, landscape on OUYA.
if(!Ouya.runningOnOuya){
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
}else{
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
}
// Set up the Android related variables.
uiHandler = new Handler();
uiContext = this;
wifiManager = (WifiManager)getSystemService(Context.WIFI_SERVICE);
// Attempt to initialize OpenCV.
if(!Ouya.runningOnOuya){
// If running on a moble device, use the asynchronous method aided
// by the OpenCV Manager app.
loaderCallback = new BaseLoaderCallback(this){
@Override
public void onManagerConnected(int status){
switch(status){
case LoaderCallbackInterface.SUCCESS:
// If successfully initialized then load the native method implementations and
// initialize the static matrices.
System.loadLibrary("cvproc");
ocvOn = true;
cameraMatrix = new Mat();
@@ -105,34 +128,46 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
break;
default:
Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show();
Gdx.app.exit();
ocvOn = false;
break;
}
}
};
// Launch the asynchronous initializer.
OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_7, this, loaderCallback);
}else{
if(!ocvOn){
Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show();
}else{
// If running on an OUYA device.
if(ocvOn){
// If OpenCV loaded successfully then initialize the native matrices.
cameraMatrix = new Mat();
distortionCoeffs = new Mat();
}else{
Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show();
}
}
// Configure LibGDX.
AndroidApplicationConfiguration cfg = new AndroidApplicationConfiguration();
cfg.useGL20 = true;
cfg.useAccelerometer = false;
cfg.useCompass = false;
cfg.useWakelock = true;
// Launch the LibGDX core game class.
initialize(new NxtARCore(this), cfg);
}
////////////////////////////////////////////////
// OSFunctionalityProvider interface methods. //
////////////////////////////////////////////////
/**
* <p>Implementation of the showShortToast method.</p>
*
* <p>Shows a short message on screen using Android's toast mechanism.</p>
*/
@Override
public void showShortToast(final String msg){
uiHandler.post(new Runnable(){
@@ -143,6 +178,11 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
});
}
/**
* <p>Implementation of the showLongToast method.</p>
*
* <p>Shows a long message on screen using Android's toast mechanism.</p>
*/
@Override
public void showLongToast(final String msg){
uiHandler.post(new Runnable(){
@@ -153,6 +193,11 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
});
}
/**
* <p>Implementation of the enableMulticast method.</p>
*
* <p>Enable the transmision and reception of multicast network messages.</p>
*/
@Override
public void enableMulticast(){
Gdx.app.log(TAG, CLASS_NAME + ".enableMulticast() :: Requesting multicast lock.");
@@ -161,6 +206,11 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
multicastLock.acquire();
}
/**
* <p>Implementation of the disableMulticast method.</p>
*
* <p>Disables the transmision and reception of multicast network messages.</p>
*/
@Override
public void disableMulticast(){
Gdx.app.log(TAG, CLASS_NAME + ".disableMulticast() :: Releasing multicast lock.");
@@ -190,31 +240,33 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
if(ocvOn){
int codes[] = new int[15];
Bitmap tFrame, mFrame;
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
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);
// Find up to 15 markers in the input image.
getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
//Mat temp = new Mat();
//Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);
// 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);
// Create the output data structure.
CVMarkerData data = new CVMarkerData();
data.outFrame = outputStream.toByteArray();
data.markerCodes = codes;
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return data;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".findMarkersInFrame(): OpenCV is not ready or failed to load.");
return null;
@@ -222,7 +274,17 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
}
/**
* <p>Implementation of the findCalibrationPattern method.</p>
*
* <p>Attempts to detect a checkerboard calibration pattern in the input image.
* If the pattenr is found the method returns an image with the pattern
* highlighted and the spatial location of the calibration points in the
* output data structure.</p>
*
* @param frame The JPEG encoded input image.
* @return A data structure containing the processed output image and the
* location of the calibration points. If the pattern was not found, the returnd
* calibration points array is null.
*/
@Override
public CVCalibrationData findCalibrationPattern(byte[] frame){
@@ -255,6 +317,7 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
outputStream.reset();
return data;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".findCalibrationPattern(): OpenCV is not ready or failed to load.");
return null;
@@ -262,44 +325,9 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
}
/**
* <p>Implementation of the calibrateCamera method.</p>
*
*/
@Override
public byte[] undistortFrame(byte[] frame){
if(ocvOn){
byte undistortedFrame[];
Bitmap tFrame, mFrame;
Mat inImg = new Mat(), outImg = new Mat();
// Decode the input frame and convert it to an OpenCV Matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Apply the undistort correction to the input frame.
Imgproc.undistort(inImg, outImg, cameraMatrix, distortionCoeffs);
// 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);
// Prepare the return frame.
undistortedFrame = outputStream.toByteArray();
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return undistortedFrame;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".undistortFrame(): OpenCV is not ready or failed to load.");
return null;
}
}
/**
*
* <p>Obtains the intrinsic camera parameters necesary for calibration.</p>
*/
@Override
public void calibrateCamera(float[][] calibrationSamples, byte[] frame) {
@@ -309,6 +337,8 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
Bitmap tFrame;
Mat inImg = new Mat();
// Save the calibration points on a one dimensional array for easier parameter passing
// to the native code.
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];
@@ -316,13 +346,13 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
}
}
// Decode the input image and convert it to an OpenCV matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Attempt to obtain the camera parameters.
double error = calibrateCameraParameters(cameraMatrix.getNativeObjAddr(), distortionCoeffs.getNativeObjAddr(), inImg.getNativeObjAddr(), calibrationPoints);
Gdx.app.log(TAG, CLASS_NAME + "calibrateCamera(): calibrateCameraParameters retured " + Double.toString(error));
cameraCalibrated = true;
}else{
@@ -330,8 +360,59 @@ public class MainActivity extends AndroidApplication implements OSFunctionalityP
}
}
/**
* <p>Implementation of the undistorFrame method.</p>
*
* <p>Removes camera lens distortion from the input image using the
* camera parameters obtained by the calibrateCamera method.</p>
*
* @return A JPEG encoded image that is the input image after distortion correction. If the
* camera has not been calibrated or OpenCV failed to load returns null.
*/
@Override
public byte[] undistortFrame(byte[] frame){
if(ocvOn){
if(cameraCalibrated){
byte undistortedFrame[];
Bitmap tFrame, mFrame;
Mat inImg = new Mat(), outImg = new Mat();
// Decode the input frame and convert it to an OpenCV Matrix.
tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
Utils.bitmapToMat(tFrame, inImg);
// Apply the undistort correction to the input frame.
Imgproc.undistort(inImg, outImg, cameraMatrix, distortionCoeffs);
// 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);
// Prepare the return frame.
undistortedFrame = outputStream.toByteArray();
// Clean up memory.
tFrame.recycle();
mFrame.recycle();
outputStream.reset();
return undistortedFrame;
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".undistortFrame(): Camera has not been calibrated.");
return null;
}
}else{
Gdx.app.debug(TAG, CLASS_NAME + ".undistortFrame(): OpenCV is not ready or failed to load.");
return null;
}
}
/**
* <p>Indicates if OpenCV has been sucessfully initialized and used
* to obtain the camera parameters for calibration.</p>
*/
@Override
public boolean cameraIsCalibrated() {