Merge branch 'develop'

.cproject

@@ -1,81 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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-		<cconfiguration id="0.1353761552">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1353761552" moduleId="org.eclipse.cdt.core.settings" name="Default">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="${ProjName}" buildProperties="" description="" id="0.1353761552" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
-					<folderInfo id="0.1353761552." name="/" resourcePath="">
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-							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1359385240.2064614940" name=""/>
-							<builder command="${NDKROOT}/ndk-build.cmd" enableAutoBuild="true" enableCleanBuild="true" id="org.eclipse.cdt.build.core.settings.default.builder.1504609501" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder">
-								<outputEntries>
-									<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="outputPath" name=""/>
-								</outputEntries>
-							</builder>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.979977589" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
-							<tool id="org.eclipse.cdt.build.core.settings.holder.743530782" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1231978083" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
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-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.915443128" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
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-								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1859743695" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
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-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
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-		<project id="NxtAR-android.null.1875632970" name="NxtAR-android"/>
-	</storageModule>
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-	<storageModule moduleId="org.eclipse.cdt.core.pathentry"/>
-	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
-	<storageModule moduleId="refreshScope" versionNumber="2">
-		<configuration configurationName="Default">
-			<resource resourceType="PROJECT" workspacePath="/NxtAR-android"/>
-		</configuration>
-	</storageModule>
-	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-</cproject>

.settings/org.eclipse.cdt.codan.core.prefs

@@ -1,67 +0,0 @@
-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.AbstractClassCreation=Error
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-org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem=Error
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-org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker=-Info
-org.eclipse.cdt.codan.internal.checkers.NamingConventionFunctionChecker.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},pattern\=>"^[a-z]",macro\=>true,exceptions\=>()}
-org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem=Warning
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-org.eclipse.cdt.codan.internal.checkers.RedefinitionProblem=Error
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-org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem=-Warning
-org.eclipse.cdt.codan.internal.checkers.ScanfFormatStringSecurityProblem.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}}
-org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem=Warning
-org.eclipse.cdt.codan.internal.checkers.StatementHasNoEffectProblem.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\=>()}
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-org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem=Warning
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-org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem=Warning
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-org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem=Error
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AndroidManifest.xml

@@ -14,10 +14,11 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
 -->
+<!-- android:screenOrientation="portrait" -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="ve.ucv.ciens.ccg.nxtar"
-    android:versionCode="140716"
-    android:versionName="14.07.16" >
+    android:versionCode="1"
+    android:versionName="1.0" >
 
     <uses-sdk android:minSdkVersion="12" android:targetSdkVersion="19" />
 
@@ -32,7 +33,7 @@
     <uses-permission android:name="android.permission.CHANGE_WIFI_MULTICAST_STATE" />
 
     <application
-        android:icon="@drawable/ic_nxtar_core_launcher"
+        android:icon="@drawable/ic_launcher"
         android:label="@string/app_name" android:allowBackup="true">
         <activity
             android:name=".MainActivity"

README.md

@@ -1,43 +0,0 @@
-NxtAR: A generic software architecture for Augmented Reality based mobile robot control.
-========================================================================================
-
-Android backend module
-----------------------
-
-### Abstract ###
-
-NxtAR is a generic software architecture for the development of Augmented Reality games
-and applications centered around mobile robot control. This is a reference implementation
-with support for [LEGO Mindstorms NXT][1] mobile robots.
-
-### Module description ###
-
-The Android backend module is a concrete [LibGDX][2] application that implements the operating
-system dependent parts of the NxtAR reference implementation. It is based around the [OpenCV][3]
-Computer Vision and Machine Learning library. Currently this module supports Android (>= 3.1)
-devices though it has been tested only on Android (>= 4.0). The module includes direct support for
-the [OUYA][4] gaming console and other devices using OUYA gamepads.
-
-### Module installation and usage. ###
-
-Install the NxtAR-core_XXXXXX.apk file on your device. To use you need additionally an Android (>= 3.0)
-phone and a LEGO Mindstorms NXT robot with the [LejOS][5] firmware installed. The [NxtAR-cam][6] module must be
-installed on the device and the [NxtAR-bot][7] module must be installed on the robot. Then, to start the compiled
-scenario follow these steps:
-
-* Start the NxtAR-core application.
-* Start the NxtAR-bot program on the robot.
-* Calibrate the robot's light sensor following the on-screen instructions.
-* When the robot displays *"Waiting for connection"* start the NxtAR-cam application and connect it with the robot.
-* Press the *"Start video streaming"* button on the NxtAR-cam application.
-* Press the *"Calibrate camera"* button on the NxtAR-core application and point the camera of the device running NxtAR-cam to an OpenCV checkerboard camera calibration pattern.
-
-The camera calibration step can be repeated if needed.
-
- [1]: http://www.lego.com/en-us/mindstorms/?domainredir=mindstorms.lego.com
- [2]: http://libgdx.badlogicgames.com/
- [3]: http://opencv.org/
- [4]: https://www.ouya.tv/
- [5]: http://www.lejos.org/nxj.php
- [6]: https://github.com/sagge-miky/NxtAR-cam
- [7]: https://github.com/sagge-miky/NxtAR-bot

assets/shaders/alphaSprite/alpha_frag.glsl

@@ -1,29 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifdef GL_ES
-precision mediump float;
-#endif
-
-uniform sampler2D u_texture;
-
-varying vec2 v_texCoords;
-
-void main(){
-	vec4 texColor = texture2D(u_texture, v_texCoords);
-	if(texColor.a > 0.0)
-		texColor.a = 0.5;
-	gl_FragColor = texColor;
-}

assets/shaders/alphaSprite/alpha_vert.glsl

@@ -1,26 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-uniform mat4 u_projTrans;
-
-attribute vec4 a_position;
-attribute vec2 a_texCoord0;
-
-varying vec2 v_texCoords;
-
-void main(){
-	v_texCoords = a_texCoord0;
-	gl_Position = u_projTrans * a_position;
-}

assets/shaders/bckg/bckg.frag

@@ -0,0 +1,12 @@
+#ifdef GL_ES
+precision mediump float;
+#endif
+
+uniform sampler2D u_texture;
+uniform vec2 u_scaling;
+
+varying vec2 v_texCoords;
+
+void main(){
+	gl_FragColor = texture2D(u_texture, v_texCoords * u_scaling);
+}

assets/shaders/bckg/bckg.vert

@@ -0,0 +1,11 @@
+uniform mat4 u_projTrans;
+
+attribute vec4 a_position;
+attribute vec2 a_texCoord0;
+
+varying vec2 v_texCoords;
+
+void main(){
+	v_texCoords = a_texCoord0;
+	gl_Position = u_projTrans * a_position;
+}

assets/shaders/bckg/bckg_frag.glsl

@@ -1,27 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifdef GL_ES
-precision mediump float;
-#endif
-
-uniform sampler2D u_texture;
-uniform vec2 u_scaling;
-
-varying vec2 v_texCoords;
-
-void main(){
-	gl_FragColor = texture2D(u_texture, v_texCoords * u_scaling);
-}

assets/shaders/bckg/bckg_vert.glsl

@@ -1,26 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-uniform mat4 u_projTrans;
-
-attribute vec4 a_position;
-attribute vec2 a_texCoord0;
-
-varying vec2 v_texCoords;
-
-void main(){
-	v_texCoords = a_texCoord0;
-	gl_Position = u_projTrans * a_position;
-}

assets/shaders/directionalPerPixelSingleLight/directionalPerPixel_frag.glsl

@@ -1,62 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifdef GL_ES
-precision mediump float;
-#endif
-
-// Ambient light color.
-uniform vec4 u_ambient;
-
-// Specular light color.
-uniform vec4 u_specular;
-
-// Shininess.
-uniform float u_shiny;
-
-// Fragment normal.
-varying vec3 v_normal;
-
-// Fragment shaded diffuse color.
-varying vec4 v_diffuse;
-
-// Vector from the fragment to the camera.
-varying vec3 v_eyeVector;
-
-// The light vector reflected around the fragment normal.
-varying vec3 v_reflectedVector;
-
-// The clamped dot product between the normal and the light vector.
-varying float v_nDotL;
-
-void main(){
-	// Normalize the input varyings.
-	vec3 normal          = normalize(v_normal);
-	vec3 eyeVector       = normalize(v_eyeVector);
-	vec3 reflectedVector = normalize(v_reflectedVector);
-
-	// Specular Term.
-	vec4 specular = vec4(0.0, 0.0, 0.0, 1.0);
-	if(v_nDotL > 0.0){
-		specular = u_specular * pow(max(dot(reflectedVector, eyeVector), 0.0), u_shiny);
-	}
-
-	// Aggregate light color.
-	vec4 finalColor = clamp(vec4(/*u_ambient.rgb*/ + v_diffuse.rgb + specular.rgb, 1.0), 0.0, 1.0);
-
-	// Final color.
-	gl_FragColor = finalColor;
-}

assets/shaders/directionalPerPixelSingleLight/directionalPerPixel_vert.glsl

@@ -1,160 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-// Model-view matrix.
-uniform mat4 u_projTrans;
-
-// The world space geometric transformation to apply to this vertex.
-uniform mat4 u_geomTrans;
-
-// The inverse transpose of the geometric transformation matrix.
-uniform mat4 u_normalMatrix;
-
-// Light source position
-uniform vec3 u_lightPos;
-
-// Diffuse light color.
-uniform vec4 u_lightDiffuse;
-
-// Camera world space position.
-uniform vec3 u_cameraPos;
-
-// Vertex color.
-uniform vec4 u_materialDiffuse;
-
-#ifdef SKINNING
-// The model's bones.
-uniform mat4 u_bone0;
-uniform mat4 u_bone1;
-uniform mat4 u_bone2;
-uniform mat4 u_bone3;
-#endif // SKINNING
-
-// Vertex position in world coordinates.
-attribute vec4 a_position;
-
-// Vertex normal.
-attribute vec4 a_normal;
-
-#ifdef SKINNING
-// The weight of each bone.
-attribute vec2 a_boneWeight0;
-attribute vec2 a_boneWeight1;
-attribute vec2 a_boneWeight2;
-attribute vec2 a_boneWeight3;
-#endif // SKINNING
-
-// Fragment normal.
-varying vec3 v_normal;
-
-// Diffuse shaded color.
-varying vec4 v_diffuse;
-
-// The vector from the vertex to the camera.
-varying vec3 v_eyeVector;
-
-// The light vector reflected around the vertex normal.
-varying vec3 v_reflectedVector;
-
-// The clamped dot product between the normal and the light vector.
-varying float v_nDotL;
-
-void main(){
-	vec4 transformedPosition;
-
-	vec3 lightVector    = normalize(u_lightPos.xyz);
-	vec3 invLightVector = -lightVector;
-
-#ifdef SKINNING
-	// Do the skinning.
-	mat4 bones0;
-	mat4 bones1;
-	mat4 bones2;
-	mat4 bones3;
-	bones0 = u_bone0;
-	bones1 = u_bone1;
-	bones2 = u_bone2;
-	bones3 = u_bone3;
-
-	int index;
-	mat4 skinning = mat4(0.0);
-
-	index = int(a_boneWeight0.x);
-	if(index == 0){
-		skinning += (a_boneWeight0.y) * bones0;
-	}else if(index == 1){
-		skinning += (a_boneWeight0.y) * bones1;
-	}else if(index == 2){
-		skinning += (a_boneWeight0.y) * bones2;
-	}else if(index == 3){
-		skinning += (a_boneWeight0.y) * bones3;
-	}
-
-	index = int(a_boneWeight1.x);
-	if(index == 0){
-		skinning += (a_boneWeight1.y) * bones0;
-	}else if(index == 1){
-		skinning += (a_boneWeight1.y) * bones1;
-	}else if(index == 2){
-		skinning += (a_boneWeight1.y) * bones2;
-	}else if(index == 3){
-		skinning += (a_boneWeight1.y) * bones3;
-	}
-
-	index = int(a_boneWeight2.x);
-	if(index == 0){
-		skinning += (a_boneWeight2.y) * bones0;
-	}else if(index == 1){
-		skinning += (a_boneWeight2.y) * bones1;
-	}else if(index == 2){
-		skinning += (a_boneWeight2.y) * bones2;
-	}else if(index == 3){
-		skinning += (a_boneWeight2.y) * bones3;
-	}
-
-	index = int(a_boneWeight3.x);
-	if(index == 0){
-		skinning += (a_boneWeight3.y) * bones0;
-	}else if(index == 1){
-		skinning += (a_boneWeight3.y) * bones1;
-	}else if(index == 2){
-		skinning += (a_boneWeight3.y) * bones2;
-	}else if(index == 3){
-		skinning += (a_boneWeight3.y) * bones3;
-	}
-
-	// Transform the model.
-	transformedPosition = u_geomTrans * skinning * a_position;
-#else
-	transformedPosition = u_geomTrans * a_position;
-#endif // SKINNING
-
-	// Set the varyings.
-#ifdef SKINNING
-	v_normal          = normalize(vec4(u_normalMatrix * skinning * a_normal).xyz);
-#else
-	v_normal          = normalize(vec4(u_normalMatrix * a_normal).xyz);
-#endif // SKINNING
-	v_eyeVector       = normalize(u_cameraPos.xyz - transformedPosition.xyz);
-	v_reflectedVector = normalize(reflect(invLightVector, v_normal));
-
-	// Diffuse Term.
-	float invNDotL = max(dot(v_normal.xyz, invLightVector), 0.0);
-	v_nDotL        = max(dot(v_normal.xyz, lightVector), 0.0);
-	v_diffuse      = (u_lightDiffuse * u_materialDiffuse * v_nDotL) + (vec4(0.1, 0.1, 0.2, 1.0) * u_materialDiffuse * invNDotL);
-
-	gl_Position = u_projTrans * transformedPosition;
-}

assets/shaders/movingBckg/movingBckg_frag.glsl

@@ -1,27 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifdef GL_ES
-precision mediump float;
-#endif
-
-uniform sampler2D u_texture;
-uniform vec2 u_scaling;
-
-varying vec2 v_texCoords;
-
-void main(){
-	gl_FragColor = texture2D(u_texture, v_texCoords * u_scaling);
-}

assets/shaders/movingBckg/movingBckg_vert.glsl

@@ -1,27 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-uniform mat4 u_projTrans;
-uniform float u_displacement;
-
-attribute vec4 a_position;
-attribute vec2 a_texCoord0;
-
-varying vec2 v_texCoords;
-
-void main(){
-	v_texCoords = a_texCoord0 + u_displacement;
-	gl_Position = u_projTrans * a_position;
-}

assets/shaders/singleDiffuseLight/singleDiffuseLight_frag.glsl

@@ -1,60 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifdef GL_ES
-precision mediump float;
-#endif
-
-// Ambient light color.
-uniform vec4 u_ambient;
-
-// Specular light color.
-uniform vec4 u_specular;
-
-// Shininess.
-uniform float u_shiny;
-
-// Fragment position.
-varying vec4 v_position;
-
-// Fragment normal.
-varying vec3 v_normal;
-
-// Fragment color received from the vertex shader.
-varying vec4 v_color;
-
-// Fragment shaded diffuse color.
-varying vec4 v_diffuse;
-
-varying vec3 v_lightVector;
-varying vec3 v_eyeVector;
-varying vec3 v_reflectedVector;
-
-void main(){
-	// Normalize the input varyings.
-	vec3 lightVector = normalize(v_lightVector);
-	vec3 eyeVector = normalize(v_eyeVector);
-	vec3 reflectedVector = normalize(v_reflectedVector);
-
-	// Specular Term:
-	vec4 specular = u_specular * pow(max(dot(reflectedVector, eyeVector), 0.0), 0.3 * u_shiny);
-
-	// Aggregate light color.
-	vec4 lightColor = clamp(vec4(u_ambient.rgb + v_diffuse.rgb + specular.rgb, 1.0), 0.0, 1.0);
-
-	// Final color.
-	gl_FragColor = clamp(lightColor, 0.0, 1.0);
-}

assets/shaders/singleDiffuseLight/singleDiffuseLight_vert.glsl

@@ -1,70 +0,0 @@
-/*
- * Copyright (C) 2014 Miguel Angel Astor Romero
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-// Model-view matrix.
-uniform mat4 u_projTrans;
-
-// The world space geometric transformation to apply to this vertex.
-uniform mat4 u_geomTrans;
-
-// Light source position
-uniform vec4 u_lightPos;
-
-// Diffuse light color.
-uniform vec4 u_lightDiffuse;
-
-// Camera world space position.
-uniform vec3 u_cameraPos;
-
-// Vertex position in world coordinates.
-attribute vec4 a_position;
-
-// Vertex normal.
-attribute vec4 a_normal;
-
-// Vertex color.
-attribute vec4 a_color;
-
-// Vertex color to pass to the fragment shader.
-varying vec4 v_color;
-
-// Diffuse shaded color to pass to the fragment shader.
-varying vec4 v_diffuse;
-
-// The vector from the vertex to the light source.
-varying vec3 v_lightVector;
-
-// The vector from the vertex to the camera.
-varying vec3 v_eyeVector;
-
-// The light vector reflected around the vertex normal.
-varying vec3 v_reflectedVector;
-
-void main(){
-	// Apply the geometric transformation to the original position of the vertex.
-	vec4 transformedPosition = u_geomTrans * a_position;
-
-	// Set the varyings.
-	v_lightVector = normalize(u_lightPos.xyz - transformedPosition.xyz);
-	v_eyeVector = normalize(u_cameraPos.xyz - transformedPosition.xyz);
-	v_reflectedVector = normalize(-reflect(v_lightVector, a_normal.xyz));
-	v_color = a_color;
-
-	// Diffuse Term.
-	v_diffuse = u_lightDiffuse * vec4(1.0) * max(dot(a_normal.xyz, v_lightVector), 0.0);
-
-	gl_Position = u_projTrans * transformedPosition;
-}

jni/Android.mk

@@ -3,7 +3,7 @@ LOCAL_PATH := $(call my-dir)
 include $(CLEAR_VARS)
 
 OPENCV_CAMERA_MODULES:=off
-OPENCV_LIB_TYPE:=STATIC #SHARED
+OPENCV_LIB_TYPE:=STATIC
 include C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
 
 LOCAL_MODULE    := cvproc
@@ -25,67 +25,4 @@ include $(CLEAR_VARS)
 LOCAL_MODULE := gdx-freetype
 LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx-freetype.so
 
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_java
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libopencv_java.so
-
-include $(PREBUILT_SHARED_LIBRARY) 
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_info
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libopencv_info.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_220
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r2.2.0.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_233
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r2.3.3.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_301
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r3.0.1.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_400
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r4.0.0.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_403
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r4.0.3.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_411
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r4.1.1.so
-
-include $(PREBUILT_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := ocv_tegra_native_camera_420
-LOCAL_SRC_FILES := C:\\Users\\miguel.astor\\Documents\\OpenCV-2.4.8-android-sdk\\sdk\\native\\libs\\armeabi-v7a\\libnative_camera_r4.2.0.so
-
-include $(PREBUILT_SHARED_LIBRARY)
+include $(PREBUILT_SHARED_LIBRARY)

jni/cv_proc.cpp

@@ -16,171 +16,56 @@
 #include <jni.h>
 #include <android/log.h>
 #include <stdio.h>
-#include <stddef.h>
 
 #include "marker.hpp"
 
-//#define LOG_ENABLED
-#define MAX_MARKERS 5
-#define TRANSLATION_VECTOR_POINTS 3
-#define ROTATION_MATRIX_SIZE 9
-#define POINTS_PER_CALIBRATION_SAMPLE 54
-#define CALIBRATION_SAMPLES 10
+//#define CAN_LOG
+
+extern "C"{
+#ifdef CAN_LOG
 
-#ifdef LOG_ENABLED
 #define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG))
-#else
-#define log(TAG, MSG) ;
-#endif
 
 const char * TAG = "CVPROC_NATIVE";
 
-extern "C"{
+#else
 
-/**
- * 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, jlong camMat, jlong distMat, jfloatArray translations, jfloatArray rotations){
-	char                  codeMsg[128];
-	std::vector<int>      vCodes;
-	nxtar::markers_vector vMarkers;
-	cv::Mat               temp;
+#define log(TAG, MSG) (1 + 1)
 
-	// Get the native object addresses.
-	log(TAG, "getMarkerCodesAndLocations(): Requesting native data.");
-	cv::Mat& myuv   = *(cv::Mat*)addrMatIn;
-	cv::Mat& mbgr   = *(cv::Mat*)addrMatOut;
-	cv::Mat& mCam   = *(cv::Mat*)camMat;
-	cv::Mat& mDist  = *(cv::Mat*)distMat;
-	jint * _codes   = env->GetIntArrayElements(codes, 0);
-	jfloat * _tr    = env->GetFloatArrayElements(translations, 0);
-	jfloat * _rt    = env->GetFloatArrayElements(rotations, 0);
+#endif
 
-	// Convert the input image to the BGR color space.
-	log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
-	cv::cvtColor(myuv, temp, CV_RGB2BGR);
+	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;
 
-	// Find all markers in the input image.
-	log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
-	nxtar::getAllMarkers(vMarkers, temp);
-	nxtar::estimateMarkerPosition(vMarkers, mCam, mDist);
+		log(TAG, "Requesting native data.");
 
-	// Copy the marker codes to the output vector.
-	log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
-	for(size_t i = 0; i < vMarkers.size() && i < MAX_MARKERS; i++){
-		_codes[i] = (jint)vMarkers[i].code;
-	}
+		cv::Mat& myuv  = *(cv::Mat*)addrMatIn;
+		cv::Mat& mbgr  = *(cv::Mat*)addrMatOut;
+		jint *  _codes = env->GetIntArrayElements(codes, 0);
 
-	// Copy the geometric transformations to the output vectors.
-	for(int i = 0, p = 0; i < vMarkers.size(); i++, p += 3){
-		_tr[p    ] = vMarkers[i].translation.at<jfloat>(0);
-		_tr[p + 1] = vMarkers[i].translation.at<jfloat>(1);
-		_tr[p + 2] = vMarkers[i].translation.at<jfloat>(2);
-	}
+		log(TAG, "Converting color space before processing.");
+		cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
 
-	for(int k = 0; k < vMarkers.size(); k++){
-		for(int row = 0; row < 3; row++){
-			for(int col = 0; col < 3; col++){
-				_rt[col + (row * 3) + (9 * k)] = vMarkers[k].rotation.at<jfloat>(row, col);
-			}
+		log(TAG, "Finding markers.");
+		nxtar::getAllMarkers(vCodes, mbgr);
+
+		log(TAG, "Copying marker codes.");
+		for(int i = 0; i < vCodes.size() && i < 15; i++){
+			_codes[i] = vCodes[i];
+			sprintf(codeMsg, "Code [%d] = %d", i, vCodes[i]);
+			log(TAG, codeMsg);
 		}
+		vCodes.clear();
+
+		log(TAG, "Releasing native data.");
+
+		env->ReleaseIntArrayElements(codes, _codes, 0);
 	}
-
-	// Clear marker memory.
-	vMarkers.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);
-	env->ReleaseFloatArrayElements(translations, _tr, 0);
-	env->ReleaseFloatArrayElements(rotations, _rt, 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;
-
-	// Get the native object addresses.
-	log(TAG, "findCalibrationPattern(): Requesting native data.");
-	cv::Mat& myuv    = *(cv::Mat*)addrMatIn;
-	cv::Mat& mbgr    = *(cv::Mat*)addrMatOut;
-	jfloat * _points = env->GetFloatArrayElements(points, 0);
-
-	// 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);
-
-	// 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);
-
-	return (jboolean)found;
-}
-
-/**
- * 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;
-	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;
-}
-
-} // extern "C"

jni/marker.cpp

@@ -16,541 +16,383 @@
 #include <algorithm>
 #include <utility>
 #include <limits>
-#include <stddef.h>
-#ifdef DESKTOP
 #include <iostream>
-#endif
 
 #include "marker.hpp"
 
+#define MIN_CONTOUR_LENGTH 0.1
+
 namespace nxtar{
 
-typedef std::vector<cv::Point3f>             points_vector_3D;
-typedef std::vector<std::vector<cv::Point> > contours_vector;
+    static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
 
-/******************************************************************************
- * PRIVATE CONSTANTS                                                          *
- ******************************************************************************/
+    class Marker;
 
-/**
- * Minimal number of points in a contour.
- */
-static const int MIN_POINTS = 40;
+    typedef std::vector<std::vector<cv::Point> > contours_vector;
+    typedef std::vector<cv::Point2f> points_vector;
+    typedef std::vector<Marker> markers_vector;
 
-/**
- * Size of a square cell in the calibration pattern.
- */
-static const float SQUARE_SIZE = 1.0f;
+    class Marker{
+        public:
+            ~Marker();
+            points_vector points;
+            int code;
+    };
 
-/**
- * Minimal lenght of a contour to be considered as a marker candidate.
- */
-static const float MIN_CONTOUR_LENGTH = 0.1;
+    float perimeter(points_vector &);
+    int hammDistMarker(cv::Mat);
+    cv::Mat rotate(cv::Mat);
+    void binarize(cv::Mat &, cv::Mat &);
+    void findContours(cv::Mat &, contours_vector &, int);
+    void renderContours(contours_vector &, cv::Mat &);
+    void renderMarkers(markers_vector &, cv::Mat &);
+    void warpMarker(Marker &, cv::Mat &, cv::Mat &);
+    int decodeMarker(cv::Mat &);
+    void fixCorners(cv::Mat &, Marker &);
+    void isolateMarkers(const contours_vector &, markers_vector &);
 
-/**
- * Flags for the calibration pattern detecion function.
- */
-static const int PATTERN_DETECTION_FLAGS = cv::CALIB_CB_ADAPTIVE_THRESH + cv::CALIB_CB_NORMALIZE_IMAGE + cv::CALIB_CB_FAST_CHECK;
+    void getAllMarkers(std::vector<int> & codes, cv::Mat & img){
+        cv::Mat gray, thresh, cont, mark;
+        contours_vector contours;
+        markers_vector markers;
+        markers_vector valid_markers;
 
-/**
- * Color for rendering the marker outlines.
- */
-static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
+        codes.clear();
 
-/**
- * Size of the chessboard pattern image (columns, rows).
- */
-static const cv::Size CHESSBOARD_PATTERN_SIZE(6, 9);
+        cv::cvtColor(img, gray, CV_BGR2GRAY);
+        binarize(gray, thresh);
+        findContours(thresh, contours, 40);
+        isolateMarkers(contours, markers);
 
-/**
- * Termination criteria for OpenCV's iterative algorithms.
- */
-static const cv::TermCriteria TERM_CRITERIA = cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1);
+        for(int i = 0; i < markers.size(); i++){
+            warpMarker(markers[i], gray, mark);
 
-/******************************************************************************
- * PRIVATE FUNCTION PROTOTYPES                                                *
- ******************************************************************************/
+            int code = decodeMarker(mark);
 
-float perimeter(points_vector &);
+            if(code != -1){
+                markers[i].code = code;
+                valid_markers.push_back(markers[i]);
+            }
+        }
 
-int hammDistMarker(cv::Mat);
+        for(int i = 0; i < valid_markers.size(); i++)
+            fixCorners(gray, valid_markers[i]);
 
-cv::Mat rotate(cv::Mat);
+        cont = cv::Mat::zeros(img.size(), CV_8UC3);
+        renderMarkers(valid_markers, cont);
 
-int decodeMarker(cv::Mat &, int &);
+        img = img + cont;
 
-void renderMarkers(markers_vector &, cv::Mat &);
+        for(int i = 0; i < valid_markers.size(); i++){
+            codes.push_back(valid_markers[i].code);
+        }
 
-void isolateMarkers(const contours_vector &, markers_vector &);
+        markers.clear();
+        contours.clear();
+        valid_markers.clear();
+    }
 
-void findContours(cv::Mat &, contours_vector &, int);
+    #ifdef DESKTOP
+    void getAllMarkers_d(std::vector<int> & codes, cv::Mat & img){
+        cv::Mat gray, thresh, cont, mark;
+        contours_vector contours;
+        markers_vector markers;
+        markers_vector valid_markers;
+        std::ostringstream oss;
 
-void warpMarker(Marker &, cv::Mat &, cv::Mat &);
+        codes.clear();
 
-/******************************************************************************
- * PUBLIC API                                                                 *
- ******************************************************************************/
+        cv::cvtColor(img, gray, CV_BGR2GRAY);
+        binarize(gray, thresh);
+        findContours(thresh, contours, 40);
+        isolateMarkers(contours, markers);
 
-void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){
-	int rotations = 0;
-	cv::Mat gray, thresh, cont, mark;
-	contours_vector contours;
-	markers_vector markers;
-	cv::Point2f point;
-#ifdef DESKTOP
-	std::ostringstream oss;
-#endif
+        for(int i = 0; i < markers.size(); i++){
+            warpMarker(markers[i], gray, mark);
 
-	valid_markers.clear();
+            int code = decodeMarker(mark);
 
-	// Find all marker candidates in the input image.
-	//   1) First, convert the image to grayscale.
-	//   2) Then, binarize the grayscale image.
-	//   3) Finally indentify all 4 sided figures in the binarized image.
-	cv::cvtColor(img, gray, CV_BGR2GRAY);
-	cv::adaptiveThreshold(gray, thresh, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
-	findContours(thresh, contours, MIN_POINTS);
-	isolateMarkers(contours, markers);
+            if(code != -1){
+                markers[i].code = code;
+                valid_markers.push_back(markers[i]);
+            }
+        }
 
-	// Remove the perspective distortion from the detected marker candidates.
-	// Then attempt to decode them and push the valid ones into the valid
-	// markers vector.
-	for(int i = 0; i < markers.size(); i++){
-		warpMarker(markers[i], gray, mark);
+        for(int i = 0; i < valid_markers.size(); i++)
+            fixCorners(gray, valid_markers[i]);
 
-		int code = decodeMarker(mark, rotations);
+        cont = cv::Mat::zeros(img.size(), CV_8UC3);
+        renderMarkers(valid_markers, cont);
 
-		if(code != -1){
-			markers[i].code = code;
+        img = img + cont;
 
-			// If the decoder detected the marker is rotated then reorder the points
-			// so that the orientation calculations always use the correct top of the marker.
-			if(rotations > 0){
-				while(rotations > 0){
-					for(int r = 0; r < 1; r++){
-						point = markers[i].points.at(markers[i].points.size() - 1);
-						markers[i].points.pop_back();
-						markers[i].points.insert(markers[i].points.begin(), point);
-					}
+        for(int i = 0; i < valid_markers.size(); i++){
+            oss << valid_markers[i].code;
 
-					rotations--;
-				}
-			}
+            cv::putText(mark, oss.str(), cv::Point(5, 250), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar::all(128), 3, 8);
 
-			// Rotate 180 degrees.
-			for(int r = 0; r < 2; r++){
-				point = markers[i].points.at(markers[i].points.size() - 1);
-				markers[i].points.pop_back();
-				markers[i].points.insert(markers[i].points.begin(), point);
-			}
+            oss.str("");
+            oss.clear();
 
-			valid_markers.push_back(markers[i]);
-		}
-	}
+            oss << "Marker[" << i << "]";
 
-	for(int i = 0; i < valid_markers.size(); i++){
-#ifdef DESKTOP
-		// Render the detected valid markers with their codes for debbuging
-		// purposes.
-		oss << valid_markers[i].code;
+            cv::imshow(oss.str(), mark);
 
-		cv::putText(mark, oss.str(), cv::Point(5, 250), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar::all(128), 3, 8);
+            oss.str("");
+            oss.clear();
 
-		oss.str("");
-		oss.clear();
+            codes.push_back(valid_markers[i].code);
+        }
 
-		oss << "Marker[" << i << "]";
+        markers.clear();
+        contours.clear();
+        valid_markers.clear();
+    }
+    #endif
 
-		cv::imshow(oss.str(), mark);
+    void binarize(cv::Mat & src, cv::Mat & dst){
+        cv::adaptiveThreshold(src, dst, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
+    }
 
-		oss.str("");
-		oss.clear();
-#endif
-		// Fix the detected corners to better approximate the markers. And
-		// push their codes to the output vector.
-		cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), TERM_CRITERIA);
-	}
+    void findContours(cv::Mat & img, contours_vector & v, int minP){
+        std::vector<std::vector<cv::Point> > c;
+        cv::findContours(img, c, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
 
-	// Render the detected markers on top of the input image.
-	cont = cv::Mat::zeros(img.size(), CV_8UC3);
-	renderMarkers(valid_markers, cont);
-	img = img + cont;
+        v.clear();
+        for(size_t i = 0; i < c.size(); i++){
+            if(c[i].size() > minP){
+                v.push_back(c[i]);
+            }
+        }
+    }
+
+    void renderContours(contours_vector & v, cv::Mat & dst){
+        cv::drawContours(dst, v, -1, COLOR, 1, CV_AA);
+    }
+
+    void renderMarkers(markers_vector & v, cv::Mat & dst){
+        contours_vector cv;
+
+        for(size_t i = 0; i < v.size(); i++){
+            std::vector<cv::Point> pv;
+            for(size_t j = 0; j < v[i].points.size(); ++j)
+                pv.push_back(cv::Point2f(v[i].points[j].x, v[i].points[j].y));
+            cv.push_back(pv);
+        }
+
+        cv::drawContours(dst, cv, -1, COLOR, 1, CV_AA);
+    }
+
+    void isolateMarkers(const contours_vector & vc, markers_vector & vm){
+        std::vector<cv::Point> appCurve;
+        markers_vector posMarkers;
+
+        for(size_t i = 0; i < vc.size(); ++i){
+            double eps = vc[i].size() * 0.05;
+            cv::approxPolyDP(vc[i], appCurve, eps, true);
+
+            if(appCurve.size() != 4 || !cv::isContourConvex(appCurve)) continue;
+
+            float minD = std::numeric_limits<float>::max();
+
+            for(int i = 0; i < 4; i++){
+                cv::Point side = appCurve[i] - appCurve[(i + 1) % 4];
+                float sqSideLen = side.dot(side);
+                minD = std::min(minD, sqSideLen);
+            }
+
+            if(minD < MIN_CONTOUR_LENGTH) continue;
+
+            Marker m;
+
+            for(int i = 0; i < 4; i++)
+                m.points.push_back(cv::Point2f(appCurve[i].x, appCurve[i].y));
+
+            cv::Point v1 = m.points[1] - m.points[0];
+            cv::Point v2 = m.points[2] - m.points[0];
+
+            double o = (v1.x * v2.y) - (v1.y * v2.x);
+            if(o < 0.0) std::swap(m.points[1], m.points[3]);
+
+            posMarkers.push_back(m);
+        }
+
+        std::vector<std::pair<int, int> > tooNear;
+        for(size_t i = 0; i < posMarkers.size(); ++i){
+            const Marker & m1 = posMarkers[i];
+
+            for(size_t j = i + 1; j < posMarkers.size(); j++){
+                const Marker & m2 = posMarkers[j];
+
+                float dSq = 0.0f;
+
+                for(int c = 0; c < 4; c++){
+                    cv::Point v = m1.points[c] - m2.points[c];
+                    dSq += v.dot(v);
+                }
+
+                dSq /= 4.0f;
+
+                if(dSq < 100) tooNear.push_back(std::pair<int, int>(i, j));
+            }
+        }
+
+        std::vector<bool> remMask(posMarkers.size(), false);
+
+        for(size_t i = 0; i < tooNear.size(); ++i){
+            float p1 = perimeter(posMarkers[tooNear[i].first].points);
+            float p2 = perimeter(posMarkers[tooNear[i].second].points);
+
+            size_t remInd;
+            if(p1 > p2) remInd = tooNear[i].second;
+            else remInd = tooNear[i].first;
+
+            remMask[remInd] = true;
+        }
+
+        vm.clear();
+        for(size_t i = 0; i < posMarkers.size(); ++i){
+            if(remMask[i]) vm.push_back(posMarkers[i]);
+        }
+    }
+
+    void warpMarker(Marker & m, cv::Mat & in, cv::Mat & out){
+        cv::Mat bin;
+        cv::Size markerSize(350, 350);
+        points_vector v;
+        v.push_back(cv::Point2f(0,0));
+        v.push_back(cv::Point2f(markerSize.width-1,0));
+        v.push_back(cv::Point2f(markerSize.width-1,markerSize.height-1));
+        v.push_back(cv::Point2f(0,markerSize.height-1));
+
+        cv::Mat M = cv::getPerspectiveTransform(m.points, v);
+        cv::warpPerspective(in, bin, M, markerSize);
+
+        cv::threshold(bin, out, 128, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
+    }
+
+    int hammDistMarker(cv::Mat bits){
+        int ids[4][5] = {
+            {1,0,0,0,0},
+            {1,0,1,1,1},
+            {0,1,0,0,1},
+            {0,1,1,1,0}
+        };
+
+        int dist = 0;
+
+        for (int y = 0; y < 5; y++){
+            int minSum = 1e5;
+
+            for (int p = 0; p < 4; p++){
+                int sum = 0;
+
+                for (int x = 0; x < 5; x++){
+                    sum += bits.at<uchar>(y, x) == ids[p][x] ? 0 : 1;
+                }
+
+                if(minSum > sum)
+                    minSum = sum;
+            }
+
+            dist += minSum;
+        }
+
+        return dist;
+    }
+    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);
+            }
+        }
+
+        return out;
+    }
+
+    int decodeMarker(cv::Mat & marker){
+        bool found = false;
+        int code = 0;
+        cv::Mat bits;
+
+        for(int y = 0; y < 7; y++){
+            int inc = (y == 0 || y == 6) ? 1 : 6;
+
+            for(int x = 0; x < 7; x += inc){
+                int cX = x * 50;
+                int cY = y * 50;
+
+                cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
+
+                int nZ = cv::countNonZero(cell);
+
+                // Not a valid marker.
+                if(nZ > (50 * 50) / 2) return -1;
+            }
+        }
+
+        bits = cv::Mat::zeros(5, 5, CV_8UC1);
+
+
+        for(int y = 0; y < 5; y++){
+            for(int x = 0; x < 5; x++){
+                int cX = (x + 1) * 50;
+                int cY = (y + 1) * 50;
+
+                cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
+
+                int nZ = cv::countNonZero(cell);
+
+                if(nZ > (50 * 50) / 2) bits.at<uchar>(y, x) = 1;
+            }
+        }
+
+        if(hammDistMarker(bits) != 0){
+            for(int r = 1; r < 4; r++){
+                bits = rotate(bits);
+                if(hammDistMarker(bits) != 0) continue;
+                else{ found = true; break;}
+            }
+        }else found = true;
+
+
+        if(found){
+            for(int y = 0; y < 5; y++){
+                code <<= 1;
+                if(bits.at<uchar>(y, 1))
+                    code |= 1;
+
+                code <<= 1;
+                if(bits.at<uchar>(y, 3))
+                    code |= 1;
+            }
+
+
+            return code;
+        }else
+            return -1;
+    }
+
+    void fixCorners(cv::Mat & img, Marker & m){
+        cv::cornerSubPix(img, m.points, cvSize(10, 10), cvSize(-1, -1), cvTermCriteria(CV_TERMCRIT_ITER, 30, 0.1));
+    }
+
+    float perimeter(points_vector & p){
+        float per = 0.0f, dx, dy;
+
+        for(size_t i; i < p.size(); ++i){
+            dx = p[i].x - p[(i + 1) % p.size()].x;
+            dy = p[i].y - p[(i + 1) % p.size()].y;
+            per += sqrt((dx * dx) + (dy * dy));
+        }
+
+        return per;
+    }
+
+    Marker::~Marker(){
+        points.clear();
+    }
 
-	// Clear the local vectors.
-	markers.clear();
-	contours.clear();
 }
-
-bool findCalibrationPattern(points_vector & corners, cv::Mat & img){
-	bool patternfound;
-	cv::Mat gray;
-
-	// Convert the input image to grayscale and attempt to find the
-	// calibration pattern.
-	cv::cvtColor(img, gray, CV_BGR2GRAY);
-	patternfound = cv::findChessboardCorners(gray, CHESSBOARD_PATTERN_SIZE, corners, PATTERN_DETECTION_FLAGS);
-
-	// If the pattern was found then fix the detected points a bit.
-	if(patternfound)
-		cv::cornerSubPix(gray, corners, cv::Size(11, 11), cv::Size(-1, -1), TERM_CRITERIA);
-
-	// Render the detected pattern.
-	cv::drawChessboardCorners(img, CHESSBOARD_PATTERN_SIZE, cv::Mat(corners), patternfound);
-
-	return patternfound;
-}
-
-double getCameraParameters(cv::Mat & camera_matrix, cv::Mat & dist_coeffs, std::vector<points_vector> & image_points, cv::Size image_size){
-	std::vector<cv::Mat> rvecs, tvecs;
-	std::vector<points_vector_3D> object_points;
-	points_vector_3D corner_points;
-
-	// Build the reference object points vector.
-	for(int i = 0; i < CHESSBOARD_PATTERN_SIZE.height; i++){
-		for(int j = 0; j < CHESSBOARD_PATTERN_SIZE.width; j++){
-			corner_points.push_back(cv::Point3f(float( j * SQUARE_SIZE ), float( i * SQUARE_SIZE ), 0));
-		}
-	}
-	object_points.push_back(corner_points);
-	object_points.resize(image_points.size(), object_points[0]);
-
-	// Build a camera matrix.
-	camera_matrix = cv::Mat::eye(3, 3, CV_64F);
-
-	// Build the distortion coefficients matrix.
-	dist_coeffs = cv::Mat::zeros(8, 1, CV_64F);
-
-	// Calibrate and return the reprojection error.
-	return cv::calibrateCamera(object_points, image_points, image_size, camera_matrix, dist_coeffs, rvecs, tvecs, 0, TERM_CRITERIA);
-}
-
-void estimateMarkerPosition(markers_vector & markers, cv::Mat & camMatrix, cv::Mat & distCoeff){
-	cv::Mat rVec, rAux, tAux;
-	cv::Mat_<float> tVec, rotation(3,3);
-	points_vector_3D objectPoints;
-
-	// Assemble a unitary CCW oriented reference polygon.
-	objectPoints.push_back(cv::Point3f(-0.5f, -0.5f, 0.0f));
-	objectPoints.push_back(cv::Point3f(-0.5f,  0.5f, 0.0f));
-	objectPoints.push_back(cv::Point3f( 0.5f,  0.5f, 0.0f));
-	objectPoints.push_back(cv::Point3f( 0.5f, -0.5f, 0.0f));
-
-	for(size_t i = 0; i < markers.size(); i++){
-		// Obtain the translation and rotation vectors.
-		cv::solvePnP(objectPoints, markers[i].points, camMatrix, distCoeff, rAux, tAux);
-
-		// Convert the obtained vectors to float.
-		rAux.convertTo(rVec, CV_32F);
-		tAux.convertTo(tVec, CV_32F);
-
-		// Convert the rotation vector to a rotation matrix.
-		cv::Rodrigues(rVec, rotation);
-
-		// Make the rotation and translation relative to the "camera" and save
-		// the results to the output marker.
-		markers[i].rotation = cv::Mat(rotation.t());
-		markers[i].translation = cv::Mat(-tVec);
-	}
-}
-
-/******************************************************************************
- * PRIVATE HELPER FUNCTIONS                                                   *
- ******************************************************************************/
-
-/**
- *  Find all contours in the input image and save them to the output
- * vector.
- */
-void findContours(cv::Mat & img, contours_vector & v, int minP){
-	contours_vector c;
-
-	// A contour is discarded if it possess less than the specified
-	// minimum number of points.
-	cv::findContours(img, c, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
-
-	v.clear();
-	for(size_t i = 0; i < c.size(); i++){
-		if(c[i].size() > minP){
-			v.push_back(c[i]);
-		}
-	}
-}
-
-/**
- * Render the input marker vector onto the output image.
- */
-void renderMarkers(markers_vector & v, cv::Mat & dst){
-	contours_vector cv;
-
-	// Extract the points that form every marker into a contours vector.
-	for(size_t i = 0; i < v.size(); i++){
-		std::vector<cv::Point> pv;
-		for(size_t j = 0; j < v[i].points.size(); ++j)
-			pv.push_back(cv::Point2f(v[i].points[j].x, v[i].points[j].y));
-		cv.push_back(pv);
-	}
-
-	// Render.
-	cv::drawContours(dst, cv, -1, COLOR, 1, CV_AA);
-}
-
-/**
- * Identify and return all marker candidates.
- */
-void isolateMarkers(const contours_vector & vc, markers_vector & vm){
-	std::vector<cv::Point> appCurve;
-	markers_vector posMarkers;
-
-	// For every detected contour.
-	for(size_t i = 0; i < vc.size(); ++i){
-		double eps = vc[i].size() * 0.05;
-
-		// Approximate the contour with a polygon.
-		cv::approxPolyDP(vc[i], appCurve, eps, true);
-
-		// If the polygon is not a cuadrilateral then this is not a marker
-		// candidate.
-		if(appCurve.size() != 4 || !cv::isContourConvex(appCurve)) continue;
-
-		// Calculate the lenght of the perimeter of this candidate. If it
-		// is too short then discard it.
-		float minD = std::numeric_limits<float>::max();
-
-		for(int i = 0; i < 4; i++){
-			cv::Point side = appCurve[i] - appCurve[(i + 1) % 4];
-			float sqSideLen = side.dot(side);
-			minD = std::min(minD, sqSideLen);
-		}
-
-		if(minD < MIN_CONTOUR_LENGTH) continue;
-
-		// Save the marker and order it's points counter-clockwise.
-		Marker m;
-
-		for(int i = 0; i < 4; i++)
-			m.points.push_back(cv::Point2f(appCurve[i].x, appCurve[i].y));
-
-		cv::Point v1 = m.points[1] - m.points[0];
-		cv::Point v2 = m.points[2] - m.points[0];
-
-		double o = (v1.x * v2.y) - (v1.y * v2.x);
-		if(o < 0.0) std::swap(m.points[1], m.points[3]);
-
-		posMarkers.push_back(m);
-	}
-
-	// Identify contours that are to close to each other to eliminate
-	// possible duplicates.
-	std::vector<std::pair<int, int> > tooNear;
-	for(size_t i = 0; i < posMarkers.size(); ++i){
-		const Marker & m1 = posMarkers[i];
-
-		for(size_t j = i + 1; j < posMarkers.size(); j++){
-			const Marker & m2 = posMarkers[j];
-
-			float dSq = 0.0f;
-
-			for(int c = 0; c < 4; c++){
-				cv::Point v = m1.points[c] - m2.points[c];
-				dSq += v.dot(v);
-			}
-
-			dSq /= 4.0f;
-
-			if(dSq < 100) tooNear.push_back(std::pair<int, int>(i, j));
-		}
-	}
-
-	// Mark one of every pair of duplicates to be discarded.
-	std::vector<bool> remMask(posMarkers.size(), false);
-	for(size_t i = 0; i < tooNear.size(); ++i){
-		float p1 = perimeter(posMarkers[tooNear[i].first].points);
-		float p2 = perimeter(posMarkers[tooNear[i].second].points);
-
-		size_t remInd;
-		if(p1 > p2) remInd = tooNear[i].second;
-		else remInd = tooNear[i].first;
-
-		remMask[remInd] = true;
-	}
-
-	// Save the candidates that survided the duplicates test.
-	vm.clear();
-	for(size_t i = 0; i < posMarkers.size(); ++i){
-		if(!remMask[i]) vm.push_back(posMarkers[i]);
-	}
-}
-
-/**
- * Warp a marker image to remove it's perspective distortion.
- */
-void warpMarker(Marker & m, cv::Mat & in, cv::Mat & out){
-	cv::Mat bin;
-	cv::Size markerSize(350, 350);
-	points_vector v;
-
-	// Assemble a unitary reference polygon.
-	v.push_back(cv::Point2f(0,0));
-	v.push_back(cv::Point2f(markerSize.width-1,0));
-	v.push_back(cv::Point2f(markerSize.width-1,markerSize.height-1));
-	v.push_back(cv::Point2f(0,markerSize.height-1));
-
-	// Warp the input image's perspective to transform it into the reference
-	// polygon's perspective.
-	cv::Mat M = cv::getPerspectiveTransform(m.points, v);
-	cv::warpPerspective(in, bin, M, markerSize);
-
-	// Binarize the warped image into the output image.
-	cv::threshold(bin, out, 128, 255, cv::THRESH_BINARY | cv::THRESH_OTSU);
-}
-
-/**
- * Calculate the hamming distance of a 5x5 bit matrix.
- * Function by Daniel Lelis Baggio for "Mastering OpenCV with Practical Computer Vision Projects".
- */
-int hammDistMarker(cv::Mat bits){
-	int ids[4][5] = {
-			{1,0,0,0,0},
-			{1,0,1,1,1},
-			{0,1,0,0,1},
-			{0,1,1,1,0}
-	};
-
-	int dist = 0;
-
-	for (int y = 0; y < 5; y++){
-		int minSum = 1e5;
-
-		for (int p = 0; p < 4; p++){
-			int sum = 0;
-
-			for (int x = 0; x < 5; x++){
-				sum += bits.at<uchar>(y, x) == ids[p][x] ? 0 : 1;
-			}
-
-			if(minSum > sum)
-				minSum = sum;
-		}
-
-		dist += minSum;
-	}
-
-	return dist;
-}
-
-/**
- * Rotate a matrix by 90 degrees clockwise.
- */
-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);
-		}
-	}
-
-	return out;
-}
-
-/**
- * Decode a marker image and return it's code. Returns -1 if the image is
- * not a valid marker.
- */
-int decodeMarker(cv::Mat & marker, int & rotations){
-	bool found = false;
-	int code = 0;
-	cv::Mat bits;
-
-	rotations = 0;
-
-	// Verify that the outer rim of marker cells are all black.
-	for(int y = 0; y < 7; y++){
-		int inc = (y == 0 || y == 6) ? 1 : 6;
-
-		for(int x = 0; x < 7; x += inc){
-			int cX = x * 50;
-			int cY = y * 50;
-			cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
-
-			int nZ = cv::countNonZero(cell);
-
-			// If one of the rim cells is 50% white or more then this
-			// is not a valid marker.
-			if(nZ > (50 * 50) / 2) return -1;
-		}
-	}
-
-	// Create a 5x5 matrix to hold a simplified representation of this
-	// marker.
-	bits = cv::Mat::zeros(5, 5, CV_8UC1);
-
-	// For every cell in the marker flip it's corresponding 'bit' in the
-	// bit matrix if it is at least 50 % white.
-	for(int y = 0; y < 5; y++){
-		for(int x = 0; x < 5; x++){
-			int cX = (x + 1) * 50;
-			int cY = (y + 1) * 50;
-			cv::Mat cell = marker(cv::Rect(cX, cY, 50, 50));
-			int nZ = cv::countNonZero(cell);
-
-			if(nZ > (50 * 50) / 2) bits.at<uchar>(y, x) = 1;
-		}
-	}
-
-	// Calcultate the hamming distance of the bit matrix and each of it's
-	// 90 degree rotations to determine if this marker has a valid code.
-	if(hammDistMarker(bits) != 0){
-		for(int r = 1; r < 4; r++){
-			bits = rotate(bits);
-			rotations++;
-			if(hammDistMarker(bits) != 0) continue;
-			else{ found = true; break;}
-		}
-	}else found = true;
-
-	// If the code is valid then decode it to an int and return it.
-	if(found){
-		for(int y = 0; y < 5; y++){
-			code <<= 1;
-			if(bits.at<uchar>(y, 1))
-				code |= 1;
-
-			code <<= 1;
-			if(bits.at<uchar>(y, 3))
-				code |= 1;
-		}
-
-
-		return code;
-	}else
-		return -1;
-}
-
-/**
- * Calculate the perimeter of a polygon defined as a vector of points.
- */
-float perimeter(points_vector & p){
-	float per = 0.0f, dx, dy;
-
-	for(size_t i; i < p.size(); ++i){
-		dx = p[i].x - p[(i + 1) % p.size()].x;
-		dy = p[i].y - p[(i + 1) % p.size()].y;
-		per += sqrt((dx * dx) + (dy * dy));
-	}
-
-	return per;
-}
-
-/******************************************************************************
- * CLASS METHODS                                                              *
- ******************************************************************************/
-
-/**
- * Clear the points vector associated with this marker.
- */
-Marker::~Marker(){
-	points.clear();
-}
-} // namespace nxtar

jni/marker.hpp

@@ -17,58 +17,13 @@
 #define MARKER_HPP
 
 #include <vector>
-
 #include <opencv2/opencv.hpp>
 
 namespace nxtar{
+    void getAllMarkers(std::vector<int> &, cv::Mat &);
+#ifdef DESKTOP
+    void getAllMarkers_d(std::vector<int> &, cv::Mat &);
+#endif
+}
 
-class Marker;
-
-typedef std::vector<cv::Point2f> points_vector;
-typedef std::vector<Marker>      markers_vector;
-
-/**
- * A class representing a marker with the geometric transformations needed to
- * render something on top of it.
- */
-class Marker{
-public:
-	~Marker();
-
-	int           code;
-	points_vector points;
-	cv::Mat       translation;
-	cv::Mat       rotation;
-};
-
-/**
- * Detect all 5x5 markers in the input image and return their codes in the
- * output vector.
- */
-void getAllMarkers(markers_vector &, cv::Mat &);
-
-/**
- * Find a chessboard calibration pattern in the input image. Returns true
- * if the pattern was found, false otherwise. The calibration points
- * detected on the image are saved in the output vector.
- */
-bool findCalibrationPattern(points_vector &, cv::Mat &);
-
-/**
- * Sets the camera matrix and the distortion coefficients for the camera
- * that captured the input image points into the output matrices. Returns
- * the reprojection error as returned by cv::calibrateCamera.
- */
-double getCameraParameters(cv::Mat &, cv::Mat &, std::vector<points_vector> &, cv::Size);
-
-/**
- * Obtains the necesary geometric transformations necessary to move a reference
- * unitary polygon to the position and rotation of the markers passed as input.
- * The obtained transformations are given relative to a camera centered in the
- * origin and are saved inside the input markers.
- */
-void estimateMarkerPosition(markers_vector &, cv::Mat &, cv::Mat &);
-
-} // namespace nxtar
-
-#endif // MARKER_HPP
+#endif

res/values-es/strings.xml

@@ -15,7 +15,7 @@
  * limitations under the License.
 -->
 <resources>
-    <string name="app_name">NxtAR-core</string>
-    <string name="ocv_failed">Error al inicializar OpenCV</string>
-    <string name="ocv_success">OpenCV inicializado con éxito</string>
+    <string name="app_name">NxtAR</string>
+    <string name="ocv_failed">No se pudo inicializar OpenCV</string>
+    <string name="ocv_success">OpenCV inicializado con exito</string>
 </resources>

res/values/strings.xml

@@ -15,7 +15,7 @@
  * limitations under the License.
 -->
 <resources>
-    <string name="app_name">NxtAR-core</string>
+    <string name="app_name">NxtAR</string>
     <string name="ocv_failed">Failed to initialize OpenCV</string>
     <string name="ocv_success">OpenCV initialized successfully</string>
 </resources>

src/ve/ucv/ciens/ccg/nxtar/MainActivity.java

@@ -24,9 +24,9 @@ import org.opencv.android.Utils;
 import org.opencv.core.Mat;
 import org.opencv.imgproc.Imgproc;
 
-import ve.ucv.ciens.ccg.nxtar.interfaces.ActionResolver;
-import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor;
-import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
+import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor;
+import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
+import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
 import android.content.Context;
 import android.content.pm.ActivityInfo;
 import android.graphics.Bitmap;
@@ -42,212 +42,73 @@ 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>
- * 
- * <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 ActionResolver, ImageProcessor{
-	/**
-	 * Tag used for logging.
-	 */
+public class MainActivity extends AndroidApplication implements Toaster, MulticastEnabler, CVProcessor{
 	private static final String TAG = "NXTAR_ANDROID_MAIN";
-
-	/**
-	 * Class name used for logging.
-	 */
 	private static final String CLASS_NAME = MainActivity.class.getSimpleName();
 
-	/**
-	 * Output stream used to codify images as JPEG using Android's Bitmap class.
-	 */
-	private static final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
-
-	/**
-	 * Indicates if OpenCV was initialized sucessfully.
-	 */
-	private static boolean ocvOn = false;
-
-	/**
-	 * Intrinsic camera matrix.
-	 */
-	private static Mat cameraMatrix;
-
-	/**
-	 * Distortion coeffitients matrix.
-	 */
-	private static Mat distortionCoeffs;
-
-	/**
-	 * Used to set and release multicast locks.
-	 */
 	private WifiManager wifiManager;
-
-	/**
-	 * Used to maintain the multicast lock during the service discovery procedure.
-	 */
 	private MulticastLock multicastLock;
-
-	/**
-	 * Handler used for requesting toast messages from the core LibGDX code.
-	 */
 	private Handler uiHandler;
-
-	/**
-	 * User interface context used to show the toast messages.
-	 */
 	private Context uiContext;
-
-	/**
-	 * OpenCV asynchronous initializer callback for mobile devices.
-	 */
+	private boolean ocvOn;
 	private BaseLoaderCallback loaderCallback;
+	private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
 
-	/**
-	 * Indicates if the current video streaming camera has been calibrated.
-	 */
-	private boolean cameraCalibrated;
+	/*static{
+		if (!OpenCVLoader.initDebug()){
+	        Gdx.app.exit();
+	    }
+		System.loadLibrary("cvproc");
+	}*/
 
-	/**
-	 * <p>Wrapper for the getAllMarkers native function.</p>
-	 * 
-	 * @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 {@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, long camMat, long distMat, float[] translations, float[] rotations);
+	public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
 
-	/**
-	 * <p>Wrapper for the findCalibrationPattern native function.</p>
-	 * 
-	 * @param inMat INPUT. The image to analize.
-	 * @param outMat OUTPUT. The image with the calibration pattern highlighted.
-	 * @param points OUTPUT. The spatial location of the calibration points if found.
-	 * @return True if the calibration pattern was found. False otherwise.
-	 */
-	private native boolean findCalibrationPattern(long inMat, long outMat, float[] points);
-
-	/**
-	 * <p>Wrapper around the getCameraParameters native function.</p>
-	 * 
-	 * @param camMat OUTPUT. The intrinsic camera matrix.
-	 * @param distMat OUTPUT. The distortion coeffitients matrix.
-	 * @param frame INPUT. A sample input image from the camera to calibrate.
-	 * @param calibrationPoints INPUT. The calibration points of all samples. 
-	 * @return The calibration error as returned by OpenCV.
-	 */
-	private 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())
-				ocvOn = false;
-
-			try{
-				System.loadLibrary("cvproc");
-				ocvOn = true;
-			}catch(UnsatisfiedLinkError u){
-				ocvOn = false;
-			}
-		}
-	}
-
-	/**
-	 * <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.</p>
-	 * 
-	 * @param savedInstanceState The application state if it was saved in a previous run.
-	 */
 	@Override
 	public void onCreate(Bundle savedInstanceState){
 		super.onCreate(savedInstanceState);
 
-		cameraCalibrated = false;
+		ocvOn = 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();
-						distortionCoeffs = new Mat();
-						break;
-
-					default:
-						Toast.makeText(uiContext, R.string.ocv_failed, Toast.LENGTH_LONG).show();
-						ocvOn = false;
-						break;
-					}
-				}
-			};
-
-			// Launch the asynchronous initializer.
-			OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_7, this, loaderCallback);
-
-		}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.useAccelerometer = true;
-		cfg.useCompass = true;
+		cfg.useGL20 = true;
+		cfg.useAccelerometer = false;
+		cfg.useCompass = false;
 		cfg.useWakelock = true;
 
-		// Launch the LibGDX core game class.
+		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_7, this, loaderCallback);
 		initialize(new NxtARCore(this), cfg);
 	}
 
-	////////////////////////////////////////////////
-	// OSFunctionalityProvider interface methods. //
-	////////////////////////////////////////////////
-
-	/**
-	 * <p>Shows a short message on screen using Android's toast mechanism.</p>
-	 * 
-	 * @param msg The message to show.
-	 */
+	////////////////////////////////
+	// Toaster interface methods. //
+	////////////////////////////////
 	@Override
 	public void showShortToast(final String msg){
 		uiHandler.post(new Runnable(){
@@ -258,11 +119,6 @@ public class MainActivity extends AndroidApplication implements ActionResolver,
 		});
 	}
 
-	/**
-	 * <p>Shows a long message on screen using Android's toast mechanism.</p>
-	 * 
-	 * @param msg The message to show.
-	 */
 	@Override
 	public void showLongToast(final String msg){
 		uiHandler.post(new Runnable(){
@@ -273,9 +129,9 @@ public class MainActivity extends AndroidApplication implements ActionResolver,
 		});
 	}
 
-	/**
-	 * <p>Enable the transmision and reception of multicast network messages.</p>
-	 */
+	/////////////////////////////////////////
+	// MulticastEnabler interface methods. //
+	/////////////////////////////////////////
 	@Override
 	public void enableMulticast(){
 		Gdx.app.log(TAG, CLASS_NAME + ".enableMulticast() :: Requesting multicast lock.");
@@ -284,9 +140,6 @@ public class MainActivity extends AndroidApplication implements ActionResolver,
 		multicastLock.acquire();
 	}
 
-	/**
-	 * <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.");
@@ -296,205 +149,40 @@ public class MainActivity extends AndroidApplication implements ActionResolver,
 		}
 	}
 
-	////////////////////////////////////
-	// CVProcessor interface methods. //
-	////////////////////////////////////
-
 	@Override
-	public MarkerData findMarkersInFrame(byte[] frame){
+	public CVData processFrame(byte[] frame, int w, int h) {
 		if(ocvOn){
-			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();
-
-				// Fill the codes array with -1 to indicate markers that were not found;
-				for(int i : codes)
-					codes[i] = -1;
-
-				// Decode the input image and convert it to an OpenCV matrix.
-				tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
-				Utils.bitmapToMat(tFrame, inImg);
-
-				// Find the markers in the input image.
-				getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes, cameraMatrix.getNativeObjAddr(), distortionCoeffs.getNativeObjAddr(), translations, rotations);
-
-				// 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 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];
-
-				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]);
-				}
-
-				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;
-		}
-	}
-
-	@Override
-	public CalibrationData findCalibrationPattern(byte[] frame){
-		if(ocvOn){
-			boolean found;
-			float points[] = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2];
+			int codes[] = new int[15];
 			Bitmap tFrame, mFrame;
-			Mat inImg = new Mat(), outImg = new Mat();
-			CalibrationData data = new CalibrationData();
 
-			// Decode the input frame and convert it to an OpenCV Matrix.
 			tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
+
+			Mat inImg = new Mat();
+			Mat outImg = new Mat();
 			Utils.bitmapToMat(tFrame, inImg);
 
-			// Attempt to find the calibration pattern in the input frame.
-			found = findCalibrationPattern(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), points);
+			getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
 
-			// Encode the output image as a JPEG image.
-			mFrame = Bitmap.createBitmap(outImg.cols(), outImg.rows(), Bitmap.Config.RGB_565);
-			Utils.matToBitmap(outImg, mFrame);
+			Mat temp = new Mat();
+			Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);
+			
+			mFrame = Bitmap.createBitmap(temp.cols(), temp.rows(), Bitmap.Config.RGB_565);
+			Utils.matToBitmap(temp, mFrame);
 			mFrame.compress(CompressFormat.JPEG, 100, outputStream);
 
-			// Prepare the output data structure.
+			CVData data = new CVData();
 			data.outFrame = outputStream.toByteArray();
-			data.calibrationPoints = found ? points : null;
+			data.markerCodes = codes;
 
-			// Clean up memory.
 			tFrame.recycle();
 			mFrame.recycle();
 			outputStream.reset();
 
 			return data;
-
 		}else{
-			Gdx.app.debug(TAG, CLASS_NAME + ".findCalibrationPattern(): OpenCV is not ready or failed to load.");
+			Gdx.app.debug(TAG, CLASS_NAME + ".processFrame(): OpenCV is not ready or failed to load.");
+
 			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();
-
-			// 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];
-					calibrationPoints[(p + 1) + (w * i)] = calibrationSamples[i][p + 1];
-				}
-			}
-
-			// 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{
-			Gdx.app.debug(TAG, CLASS_NAME + ".calibrateCamera(): OpenCV is not ready or failed to load.");
-		}
-	}
-
-	@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;
-		}
-	}
-
-	@Override
-	public boolean isCameraCalibrated() {
-		return ocvOn && cameraCalibrated;
-	}
-
-	@Override
-	public float getFocalPointX() {
-		return ocvOn && cameraCalibrated ? (float)cameraMatrix.get(0, 0)[0] : 0.0f;
-	}
-
-	@Override
-	public float getFocalPointY() {
-		return ocvOn && cameraCalibrated ? (float)cameraMatrix.get(1, 1)[0] : 0.0f;
-	}
-
-	@Override
-	public float getCameraCenterX() {
-		return ocvOn && cameraCalibrated ? (float)cameraMatrix.get(0, 2)[0] : 0.0f;
-	}
-
-	@Override
-	public float getCameraCenterY() {
-		return ocvOn && cameraCalibrated ? (float)cameraMatrix.get(1, 2)[0] : 0.0f;
-	}
-}
+}