Merge branch 'develop'

.cproject

@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<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="${ProjName}" buildProperties="" description="" id="0.1353761552" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
+					<folderInfo id="0.1353761552." name="/" resourcePath="">
+						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1359385240" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
+							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1359385240.2064614940" name=""/>
+							<builder command="${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">
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\platforms\android-9\arch-arm\usr\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\libs\armeabi-v7a\include&quot;"/>
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+									<listOptionValue builtIn="false" value="&quot;C:\android-ndk-r9c\toolchains\arm-linux-androideabi-4.8\prebuilt\windows\lib\gcc\arm-linux-androideabi\4.8\include&quot;"/>
+								</option>
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1450614296" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.2086329912" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.915443128" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\platforms\android-9\arch-arm\usr\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\libs\armeabi-v7a\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;C:\android-ndk-r9c\toolchains\arm-linux-androideabi-4.8\prebuilt\windows\lib\gcc\arm-linux-androideabi\4.8\include&quot;"/>
+								</option>
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1750170923" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1705205854" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<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">
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\platforms\android-9\arch-arm\usr\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${NDKROOT}\sources\cxx-stl\gnu-libstdc++\4.6\libs\armeabi-v7a\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;C:\android-ndk-r9c\toolchains\arm-linux-androideabi-4.8\prebuilt\windows\lib\gcc\arm-linux-androideabi\4.8\include&quot;"/>
+								</option>
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.343342792" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="NxtAR-android.null.1875632970" name="NxtAR-android"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="0.1353761552">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+	<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

@@ -0,0 +1,67 @@
+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.checkers.noreturn=Error
+org.eclipse.cdt.codan.checkers.noreturn.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.internal.checkers.AbstractClassCreation=Error
+org.eclipse.cdt.codan.internal.checkers.AbstractClassCreation.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.AmbiguousProblem=Error
+org.eclipse.cdt.codan.internal.checkers.AmbiguousProblem.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}}
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+org.eclipse.cdt.codan.internal.checkers.MemberDeclarationNotFoundProblem=Error
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+org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem=Warning
+org.eclipse.cdt.codan.internal.checkers.NonVirtualDestructorProblem.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}}
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+org.eclipse.cdt.codan.internal.checkers.RedeclarationProblem=Error
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+org.eclipse.cdt.codan.internal.checkers.ReturnStyleProblem=-Warning
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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\=>()}
+org.eclipse.cdt.codan.internal.checkers.SuggestedParenthesisProblem=Warning
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+org.eclipse.cdt.codan.internal.checkers.UnusedStaticFunctionProblem=Warning
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+org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem=Warning
+org.eclipse.cdt.codan.internal.checkers.UnusedVariableDeclarationProblem.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\=>("@(\#)","$Id")}
+org.eclipse.cdt.codan.internal.checkers.VariableResolutionProblem=Error
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AndroidManifest.xml

@@ -14,11 +14,10 @@
  * 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="140404"
+    android:versionCode="140716"
-    android:versionName="14.04.04" >
+    android:versionName="14.07.16" >
 
     <uses-sdk android:minSdkVersion="12" android:targetSdkVersion="19" />
 
@@ -33,7 +32,7 @@
     <uses-permission android:name="android.permission.CHANGE_WIFI_MULTICAST_STATE" />
 
     <application
-        android:icon="@drawable/ic_launcher"
+        android:icon="@drawable/ic_nxtar_core_launcher"
         android:label="@string/app_name" android:allowBackup="true">
         <activity
             android:name=".MainActivity"

README.md

@@ -1,4 +1,43 @@
-NxtAR-android
+NxtAR: A generic software architecture for Augmented Reality based mobile robot control.
-=============
+========================================================================================
 
-Modulo 2 de mi trabajo especial de grado.
+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

@@ -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.
+ */
+#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

@@ -0,0 +1,26 @@
+/*
+ * 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

@@ -1,12 +0,0 @@
-#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

@@ -1,11 +0,0 @@
-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

@@ -0,0 +1,27 @@
+/*
+ * 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

@@ -0,0 +1,26 @@
+/*
+ * 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

@@ -0,0 +1,62 @@
+/*
+ * 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

@@ -0,0 +1,160 @@
+/*
+ * 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

@@ -0,0 +1,27 @@
+/*
+ * 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

@@ -0,0 +1,27 @@
+/*
+ * 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

@@ -0,0 +1,60 @@
+/*
+ * 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

@@ -0,0 +1,70 @@
+/*
+ * 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
+OPENCV_LIB_TYPE:=STATIC #SHARED
 include C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
 
 LOCAL_MODULE    := cvproc
@@ -25,4 +25,67 @@ include $(CLEAR_VARS)
 LOCAL_MODULE := gdx-freetype
 LOCAL_SRC_FILES := $(TARGET_ARCH_ABI)/libgdx-freetype.so
 
-include $(PREBUILT_SHARED_LIBRARY)
+include $(PREBUILT_SHARED_LIBRARY)
+
+include $(CLEAR_VARS)
+
+LOCAL_MODULE := ocv_tegra_java
+LOCAL_SRC_FILES := C:\\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)

jni/cv_proc.cpp

@@ -16,56 +16,171 @@
 #include <jni.h>
 #include <android/log.h>
 #include <stdio.h>
+#include <stddef.h>
 
 #include "marker.hpp"
 
-//#define CAN_LOG
+//#define LOG_ENABLED
-
+#define MAX_MARKERS 5
-extern "C"{
+#define TRANSLATION_VECTOR_POINTS 3
-#ifdef CAN_LOG
+#define ROTATION_MATRIX_SIZE 9
+#define POINTS_PER_CALIBRATION_SAMPLE 54
+#define CALIBRATION_SAMPLES 10
 
+#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";
 
-#else
+extern "C"{
 
-#define log(TAG, MSG) (1 + 1)
+/**
+ * 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;
 
-#endif
+	// 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);
 
-	JNIEXPORT void JNICALL Java_ve_ucv_ciens_ccg_nxtar_MainActivity_getMarkerCodesAndLocations(
+	// Convert the input image to the BGR color space.
-		JNIEnv* env,
+	log(TAG, "getMarkerCodesAndLocations(): Converting color space before processing.");
-		jobject jobj,
+	cv::cvtColor(myuv, temp, CV_RGB2BGR);
-		jlong addrMatIn,
-		jlong addrMatOut,
-		jintArray codes
-	){
-		char codeMsg[128];
-		std::vector<int> vCodes;
 
-		log(TAG, "Requesting native data.");
+	// Find all markers in the input image.
+	log(TAG, "getMarkerCodesAndLocations(): Finding markers.");
+	nxtar::getAllMarkers(vMarkers, temp);
+	nxtar::estimateMarkerPosition(vMarkers, mCam, mDist);
 
-		cv::Mat& myuv  = *(cv::Mat*)addrMatIn;
+	// Copy the marker codes to the output vector.
-		cv::Mat& mbgr  = *(cv::Mat*)addrMatOut;
+	log(TAG, "getMarkerCodesAndLocations(): Copying marker codes.");
-		jint *  _codes = env->GetIntArrayElements(codes, 0);
+	for(size_t i = 0; i < vMarkers.size() && i < MAX_MARKERS; i++){
-
+		_codes[i] = (jint)vMarkers[i].code;
-		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);
 	}
+
+	// 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);
+	}
+
+	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);
+			}
+		}
+	}
+
+	// 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

@@ -16,383 +16,541 @@
 #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{
 
-    static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
+typedef std::vector<cv::Point3f>             points_vector_3D;
+typedef std::vector<std::vector<cv::Point> > contours_vector;
 
-    class Marker;
+/******************************************************************************
-
+ * PRIVATE CONSTANTS                                                          *
-    typedef std::vector<std::vector<cv::Point> > contours_vector;
+ ******************************************************************************/
-    typedef std::vector<cv::Point2f> points_vector;
+
-    typedef std::vector<Marker> markers_vector;
+/**
+ * Minimal number of points in a contour.
+ */
+static const int MIN_POINTS = 40;
+
+/**
+ * Size of a square cell in the calibration pattern.
+ */
+static const float SQUARE_SIZE = 1.0f;
+
+/**
+ * Minimal lenght of a contour to be considered as a marker candidate.
+ */
+static const float MIN_CONTOUR_LENGTH = 0.1;
+
+/**
+ * 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;
+
+/**
+ * Color for rendering the marker outlines.
+ */
+static const cv::Scalar COLOR = cv::Scalar(255, 255, 255);
+
+/**
+ * Size of the chessboard pattern image (columns, rows).
+ */
+static const cv::Size CHESSBOARD_PATTERN_SIZE(6, 9);
+
+/**
+ * Termination criteria for OpenCV's iterative algorithms.
+ */
+static const cv::TermCriteria TERM_CRITERIA = cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1);
+
+/******************************************************************************
+ * PRIVATE FUNCTION PROTOTYPES                                                *
+ ******************************************************************************/
+
+float perimeter(points_vector &);
+
+int hammDistMarker(cv::Mat);
+
+cv::Mat rotate(cv::Mat);
+
+int decodeMarker(cv::Mat &, int &);
+
+void renderMarkers(markers_vector &, cv::Mat &);
+
+void isolateMarkers(const contours_vector &, markers_vector &);
+
+void findContours(cv::Mat &, contours_vector &, int);
+
+void warpMarker(Marker &, cv::Mat &, cv::Mat &);
+
+/******************************************************************************
+ * PUBLIC API                                                                 *
+ ******************************************************************************/
+
+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
+
+	valid_markers.clear();
+
+	// 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);
+
+	// 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);
+
+		int code = decodeMarker(mark, rotations);
+
+		if(code != -1){
+			markers[i].code = code;
+
+			// 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);
+					}
+
+					rotations--;
+				}
+			}
+
+			// 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);
+			}
+
+			valid_markers.push_back(markers[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::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 << "]";
 
-    class Marker{
+		cv::imshow(oss.str(), mark);
-        public:
+
-            ~Marker();
+		oss.str("");
-            points_vector points;
+		oss.clear();
-            int code;
+#endif
-    };
+		// Fix the detected corners to better approximate the markers. And
-
+		// push their codes to the output vector.
-    float perimeter(points_vector &);
+		cv::cornerSubPix(gray, valid_markers[i].points, cvSize(10, 10), cvSize(-1, -1), TERM_CRITERIA);
-    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();
-    }
 
+	// 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;
+
+	// 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

@@ -17,13 +17,58 @@
 #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
+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

res/values-es/strings.xml

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

res/values/strings.xml

@@ -15,7 +15,7 @@
  * limitations under the License.
 -->
 <resources>
-    <string name="app_name">NxtAR</string>
+    <string name="app_name">NxtAR-core</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.CVProcessor;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ActionResolver;
-import ve.ucv.ciens.ccg.nxtar.interfaces.MulticastEnabler;
+import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor;
-import ve.ucv.ciens.ccg.nxtar.interfaces.Toaster;
+import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
 import android.content.Context;
 import android.content.pm.ActivityInfo;
 import android.graphics.Bitmap;
@@ -42,73 +42,212 @@ 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;
 
-public class MainActivity extends AndroidApplication implements Toaster, MulticastEnabler, CVProcessor{
+/**
+ * <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.
+	 */
 	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;
-	private boolean ocvOn;
+
+	/**
+	 * OpenCV asynchronous initializer callback for mobile devices.
+	 */
 	private BaseLoaderCallback loaderCallback;
-	private final ByteArrayOutputStream outputStream = new ByteArrayOutputStream();
 
-	/*static{
+	/**
-		if (!OpenCVLoader.initDebug()){
+	 * Indicates if the current video streaming camera has been calibrated.
-	        Gdx.app.exit();
+	 */
-	    }
+	private boolean cameraCalibrated;
-		System.loadLibrary("cvproc");
-	}*/
 
-	public native void getMarkerCodesAndLocations(long inMat, long outMat, int[] codes);
+	/**
+	 * <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);
 
+	/**
+	 * <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);
 
-		ocvOn = false;
+		cameraCalibrated = false;
 
+		// Set screen orientation. Portrait on mobile devices, landscape on OUYA.
 		if(!Ouya.runningOnOuya){
 			setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_PORTRAIT);
 		}else{
 			setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
 		}
 
+		// Set up the Android related variables.
 		uiHandler = new Handler();
 		uiContext = this;
 		wifiManager = (WifiManager)getSystemService(Context.WIFI_SERVICE);
 
+		// Attempt to initialize OpenCV.
+		if(!Ouya.runningOnOuya){
+			// If running on a moble device, use the asynchronous method aided
+			// by the OpenCV Manager app.
+			loaderCallback = new BaseLoaderCallback(this){
+				@Override
+				public void onManagerConnected(int status){
+					switch(status){
+					case LoaderCallbackInterface.SUCCESS:
+						// If successfully initialized then load the native method implementations and
+						// initialize the static matrices.
+						System.loadLibrary("cvproc");
+						ocvOn = true;
+						cameraMatrix = new Mat();
+						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.useGL20 = true;
+		cfg.useAccelerometer = true;
-		cfg.useAccelerometer = false;
+		cfg.useCompass = true;
-		cfg.useCompass = false;
 		cfg.useWakelock = true;
 
-		loaderCallback = new BaseLoaderCallback(this){
+		// Launch the LibGDX core game class.
-			@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);
 	}
 
-	////////////////////////////////
+	////////////////////////////////////////////////
-	// Toaster interface methods. //
+	// OSFunctionalityProvider interface methods. //
-	////////////////////////////////
+	////////////////////////////////////////////////
+
+	/**
+	 * <p>Shows a short message on screen using Android's toast mechanism.</p>
+	 * 
+	 * @param msg The message to show.
+	 */
 	@Override
 	public void showShortToast(final String msg){
 		uiHandler.post(new Runnable(){
@@ -119,6 +258,11 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 		});
 	}
 
+	/**
+	 * <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(){
@@ -129,9 +273,9 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 		});
 	}
 
-	/////////////////////////////////////////
+	/**
-	// MulticastEnabler interface methods. //
+	 * <p>Enable the transmision and reception of multicast network messages.</p>
-	/////////////////////////////////////////
+	 */
 	@Override
 	public void enableMulticast(){
 		Gdx.app.log(TAG, CLASS_NAME + ".enableMulticast() :: Requesting multicast lock.");
@@ -140,6 +284,9 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 		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.");
@@ -149,40 +296,205 @@ public class MainActivity extends AndroidApplication implements Toaster, Multica
 		}
 	}
 
+	////////////////////////////////////
+	// CVProcessor interface methods. //
+	////////////////////////////////////
+
 	@Override
-	public CVData processFrame(byte[] frame, int w, int h) {
+	public MarkerData findMarkersInFrame(byte[] frame){
 		if(ocvOn){
-			int codes[] = new int[15];
+			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];
 			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);
 
-			getMarkerCodesAndLocations(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), codes);
+			// Attempt to find the calibration pattern in the input frame.
+			found = findCalibrationPattern(inImg.getNativeObjAddr(), outImg.getNativeObjAddr(), points);
 
-			Mat temp = new Mat();
+			// Encode the output image as a JPEG image.
-			Imgproc.cvtColor(outImg, temp, Imgproc.COLOR_BGR2RGB);
+			mFrame = Bitmap.createBitmap(outImg.cols(), outImg.rows(), Bitmap.Config.RGB_565);
-
+			Utils.matToBitmap(outImg, mFrame);
-			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();
+			// Prepare the output data structure.
 			data.outFrame = outputStream.toByteArray();
-			data.markerCodes = codes;
+			data.calibrationPoints = found ? points : null;
 
+			// Clean up memory.
 			tFrame.recycle();
 			mFrame.recycle();
 			outputStream.reset();
 
 			return data;
-		}else{
-			Gdx.app.debug(TAG, CLASS_NAME + ".processFrame(): OpenCV is not ready or failed to load.");
 
+		}else{
+			Gdx.app.debug(TAG, CLASS_NAME + ".findCalibrationPattern(): 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;
+	}
+}