Merge branch 'develop'

.gitignore

@@ -11,6 +11,7 @@
 # generated files
 bin/
 gen/
+obj/
 
 # Local configuration file (sdk path, etc)
 local.properties

AndroidManifest.xml

@@ -20,7 +20,7 @@
     android:versionCode="1"
     android:versionName="1.0" >
 
-    <uses-sdk android:minSdkVersion="10" android:targetSdkVersion="19" />
+    <uses-sdk android:minSdkVersion="12" android:targetSdkVersion="19" />
 
     <uses-feature android:required="true" android:glEsVersion="0x00020000"/>
     <uses-feature android:name="android.hardware.wifi" android:required="true" />

jni/Android.mk

@@ -0,0 +1,28 @@
+LOCAL_PATH := $(call my-dir)
+
+include $(CLEAR_VARS)
+
+OPENCV_CAMERA_MODULES:=off
+OPENCV_LIB_TYPE:=STATIC
+include C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
+
+LOCAL_MODULE    := cvproc
+LOCAL_SRC_FILES := cv_proc.cpp marker.cpp
+LOCAL_LDLIBS +=  -llog -ldl
+
+include $(BUILD_SHARED_LIBRARY)
+
+# Add prebuilt libraries
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := gdx
+LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx.so
+
+include $(PREBUILT_SHARED_LIBRARY)
+
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := gdx-freetype
+LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx-freetype.so
+
+include $(PREBUILT_SHARED_LIBRARY)

jni/Application.mk

@@ -0,0 +1,4 @@
+APP_STL := gnustl_static
+APP_CPPFLAGS := -frtti -fexceptions
+APP_ABI := armeabi-v7a
+APP_PLATFORM := android-12

jni/cv_proc.cpp

@@ -0,0 +1,71 @@
+/*
+ * 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.
+ */
+#include <jni.h>
+#include <android/log.h>
+#include <stdio.h>
+
+#include "marker.hpp"
+
+//#define CAN_LOG
+
+extern "C"{
+#ifdef CAN_LOG
+
+#define log(TAG, MSG) (__android_log_write(ANDROID_LOG_DEBUG, TAG, MSG))
+
+const char * TAG = "CVPROC_NATIVE";
+
+#else
+
+#define log(TAG, MSG) (1 + 1)
+
+#endif
+
+	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;
+
+		log(TAG, "Requesting native data.");
+
+		cv::Mat& myuv  = *(cv::Mat*)addrMatIn;
+		cv::Mat& mbgr  = *(cv::Mat*)addrMatOut;
+		jint *  _codes = env->GetIntArrayElements(codes, 0);
+
+		log(TAG, "Converting color space before processing.");
+		cv::cvtColor(myuv, mbgr, CV_RGB2BGR);
+
+		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);
+	}
+}

jni/marker.cpp

@@ -0,0 +1,398 @@
+/*
+ * 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.
+ */
+#include <algorithm>
+#include <utility>
+#include <limits>
+#include <iostream>
+
+#include "marker.hpp"
+
+#define MIN_CONTOUR_LENGTH 0.1
+
+namespace nxtar{
+
+    static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
+
+    class Marker;
+
+    typedef std::vector<std::vector<cv::Point> > contours_vector;
+    typedef std::vector<cv::Point2f> points_vector;
+    typedef std::vector<Marker> markers_vector;
+
+    class Marker{
+        public:
+            ~Marker();
+            points_vector points;
+            int code;
+    };
+
+    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 &);
+
+    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;
+
+        codes.clear();
+
+        cv::cvtColor(img, gray, CV_BGR2GRAY);
+        binarize(gray, thresh);
+        findContours(thresh, contours, 40);
+        isolateMarkers(contours, markers);
+
+        for(int i = 0; i < markers.size(); i++){
+            warpMarker(markers[i], gray, mark);
+
+            int code = decodeMarker(mark);
+
+            if(code != -1){
+                markers[i].code = code;
+                valid_markers.push_back(markers[i]);
+            }
+        }
+
+        for(int i = 0; i < valid_markers.size(); i++)
+            fixCorners(gray, valid_markers[i]);
+
+        cont = cv::Mat::zeros(img.size(), CV_8UC3);
+        renderMarkers(valid_markers, cont);
+
+        img = img + cont;
+
+        for(int i = 0; i < valid_markers.size(); i++){
+            codes.push_back(valid_markers[i].code);
+        }
+
+        markers.clear();
+        contours.clear();
+        valid_markers.clear();
+    }
+
+    #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;
+
+        codes.clear();
+
+        cv::cvtColor(img, gray, CV_BGR2GRAY);
+        binarize(gray, thresh);
+        findContours(thresh, contours, 40);
+        isolateMarkers(contours, markers);
+
+        for(int i = 0; i < markers.size(); i++){
+            warpMarker(markers[i], gray, mark);
+
+            int code = decodeMarker(mark);
+
+            if(code != -1){
+                markers[i].code = code;
+                valid_markers.push_back(markers[i]);
+            }
+        }
+
+        for(int i = 0; i < valid_markers.size(); i++)
+            fixCorners(gray, valid_markers[i]);
+
+        cont = cv::Mat::zeros(img.size(), CV_8UC3);
+        renderMarkers(valid_markers, cont);
+
+        img = img + cont;
+
+        for(int i = 0; i < valid_markers.size(); i++){
+            oss << valid_markers[i].code;
+
+            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 << "Marker[" << i << "]";
+
+            cv::imshow(oss.str(), mark);
+
+            oss.str("");
+            oss.clear();
+
+            codes.push_back(valid_markers[i].code);
+        }
+
+        markers.clear();
+        contours.clear();
+        valid_markers.clear();
+    }
+    #endif
+
+    void binarize(cv::Mat & src, cv::Mat & dst){
+        cv::adaptiveThreshold(src, dst, 255, cv::ADAPTIVE_THRESH_MEAN_C, cv::THRESH_BINARY_INV, 7, 7);
+    }
+
+    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);
+
+        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();
+    }
+
+}

jni/marker.hpp

@@ -0,0 +1,29 @@
+/*
+ * 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.
+ */
+#ifndef MARKER_HPP
+#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
+}
+
+#endif

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

@@ -15,16 +15,23 @@
  */
 package ve.ucv.ciens.ccg.nxtar;
 
+import java.io.ByteArrayOutputStream;
+
 import org.opencv.android.BaseLoaderCallback;
-import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener;
 import org.opencv.android.LoaderCallbackInterface;
 import org.opencv.android.OpenCVLoader;
+import org.opencv.android.Utils;
 import org.opencv.core.Mat;
+import org.opencv.imgproc.Imgproc;
 
+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;
+import android.graphics.Bitmap.CompressFormat;
+import android.graphics.BitmapFactory;
 import android.net.wifi.WifiManager;
 import android.net.wifi.WifiManager.MulticastLock;
 import android.os.Bundle;
@@ -36,7 +43,7 @@ import com.badlogic.gdx.backends.android.AndroidApplication;
 import com.badlogic.gdx.backends.android.AndroidApplicationConfiguration;
 import com.badlogic.gdx.controllers.mappings.Ouya;
 
-public class MainActivity extends AndroidApplication implements Toaster, MulticastEnabler, CvCameraViewListener{
+public class MainActivity extends AndroidApplication implements Toaster, MulticastEnabler, CVProcessor{
 	private static final String TAG = "NXTAR_ANDROID_MAIN";
 	private static final String CLASS_NAME = MainActivity.class.getSimpleName();
 
@@ -46,13 +53,17 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 	private Context uiContext;
 	private boolean ocvOn;
 	private BaseLoaderCallback loaderCallback;
+	private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
 
 	/*static{
-	    if (!OpenCVLoader.initDebug()){
+		if (!OpenCVLoader.initDebug()){
 	        Gdx.app.exit();
 	    }
+		System.loadLibrary("cvproc");
 	}*/
 
+	public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
+
 	@Override
 	public void onCreate(Bundle savedInstanceState){
 		super.onCreate(savedInstanceState);
@@ -80,6 +91,7 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 			public void onManagerConnected(int status){
 				switch(status){
 				case LoaderCallbackInterface.SUCCESS:
+					System.loadLibrary("cvproc");
 					ocvOn = true;
 					break;
 				default:
@@ -137,26 +149,40 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 		}
 	}
 
-	/////////////////////////////////////////////
-	// CvCameraViewListener interface methods. //
-	/////////////////////////////////////////////
-	/**
-	 * <p>This method does nothing. It is here because it must be implemented in order to use OpenCV.</p>
-	 */
 	@Override
-	public void onCameraViewStarted(int width, int height){ }
+	public CVData processFrame(byte[] frame, int w, int h) {
+		if(ocvOn){
+			int codes[] = new int[15];
+			Bitmap tFrame, mFrame;
 
-	/**
-	 * <p>This method does nothing. It is here because it must be implemented in order to use OpenCV.</p>
-	 */
-	@Override
-	public void onCameraViewStopped(){ }
+			tFrame = BitmapFactory.decodeByteArray(frame, 0, frame.length);
 
-	/**
-	 * <p>This method does nothing. It is here because it must be implemented in order to use OpenCV.</p>
-	 */
-	@Override
-	public Mat onCameraFrame(Mat inputFrame){
-		return null;
+			Mat inImg = new Mat();
+			Mat outImg = new Mat();
+			Utils.bitmapToMat(tFrame, inImg);
+
+			getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
+
+			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);
+
+			CVData data = new CVData();
+			data.outFrame = outputStream.toByteArray();
+			data.markerCodes = codes;
+
+			tFrame.recycle();
+			mFrame.recycle();
+			outputStream.reset();
+
+			return data;
+		}else{
+			Gdx.app.debug(TAG, CLASS_NAME + ".processFrame(): OpenCV is not ready or failed to load.");
+
+			return null;
+		}
 	}
 }