Merge branch 'develop'

AndroidManifest.xml

@@ -16,8 +16,8 @@
 -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
     package="ve.ucv.ciens.ccg.nxtar"
-    android:versionCode="140527"
+    android:versionCode="140716"
-    android:versionName="14.05.27" >
+    android:versionName="14.07.16" >
 
     <uses-sdk android:minSdkVersion="12" android:targetSdkVersion="19" />
 
@@ -32,7 +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.glsl

@@ -1,3 +1,18 @@
+/*
+ * 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

assets/shaders/bckg/bckg_vert.glsl

@@ -1,3 +1,18 @@
+/*
+ * 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;

assets/shaders/directionalPerPixelSingleLight/directionalPerPixel_vert.glsl

@@ -80,17 +80,61 @@ void main(){
 
 #ifdef SKINNING
 	// Do the skinning.
-	mat4 bones[4];
+	mat4 bones0;
-	bones[0] = u_bone0;
+	mat4 bones1;
-	bones[1] = u_bone1;
+	mat4 bones2;
-	bones[2] = u_bone2;
+	mat4 bones3;
-	bones[3] = u_bone3;
+	bones0 = u_bone0;
+	bones1 = u_bone1;
+	bones2 = u_bone2;
+	bones3 = u_bone3;
 
+	int index;
 	mat4 skinning = mat4(0.0);
-	skinning += (a_boneWeight0.y) * bones[int(a_boneWeight0.x)];
+
-	skinning += (a_boneWeight1.y) * bones[int(a_boneWeight1.x)];
+	index = int(a_boneWeight0.x);
-	skinning += (a_boneWeight2.y) * bones[int(a_boneWeight2.x)];
+	if(index == 0){
-	skinning += (a_boneWeight3.y) * bones[int(a_boneWeight3.x)];
+		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;

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;
+}

jni/Android.mk

@@ -5,7 +5,6 @@ include $(CLEAR_VARS)
 OPENCV_CAMERA_MODULES:=off
 OPENCV_LIB_TYPE:=STATIC #SHARED
 include C:\Users\miguel.astor\Documents\OpenCV-2.4.8-android-sdk\sdk\native\jni\OpenCV.mk
-#include C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\jni\OpenCV-tegra3.mk
 
 LOCAL_MODULE    := cvproc
 LOCAL_SRC_FILES := cv_proc.cpp marker.cpp
@@ -31,62 +30,62 @@ include $(PREBUILT_SHARED_LIBRARY)
 include $(CLEAR_VARS)
 
 LOCAL_MODULE := ocv_tegra_java
-LOCAL_SRC_FILES := C:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libopencv_java.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libopencv_info.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r2.2.0.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r2.3.3.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r3.0.1.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.0.0.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.0.3.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.1.1.so
+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:\NVPACK\OpenCV-2.4.5-Tegra-sdk-r2\sdk\native\libs\tegra3\libnative_camera_r4.2.0.so
+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/marker.cpp

@@ -77,7 +77,7 @@ int hammDistMarker(cv::Mat);
 
 cv::Mat rotate(cv::Mat);
 
-int decodeMarker(cv::Mat &);
+int decodeMarker(cv::Mat &, int &);
 
 void renderMarkers(markers_vector &, cv::Mat &);
 
@@ -92,9 +92,11 @@ void warpMarker(Marker &, cv::Mat &, cv::Mat &);
  ******************************************************************************/
 
 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
@@ -116,10 +118,32 @@ void getAllMarkers(markers_vector & valid_markers, cv::Mat & img){
 	for(int i = 0; i < markers.size(); i++){
 		warpMarker(markers[i], gray, mark);
 
-		int code = decodeMarker(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]);
 		}
 	}
@@ -434,11 +458,13 @@ cv::Mat rotate(cv::Mat in){
  * 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 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;
@@ -478,6 +504,7 @@ int decodeMarker(cv::Mat & marker){
 	if(hammDistMarker(bits) != 0){
 		for(int r = 1; r < 4; r++){
 			bits = rotate(bits);
+			rotations++;
 			if(hammDistMarker(bits) != 0) continue;
 			else{ found = true; break;}
 		}

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

@@ -231,8 +231,8 @@ public class MainActivity extends AndroidApplication implements ActionResolver,
 
 		// Configure LibGDX.
 		AndroidApplicationConfiguration cfg = new AndroidApplicationConfiguration();
-		cfg.useAccelerometer = false;
+		cfg.useAccelerometer = true;
-		cfg.useCompass = false;
+		cfg.useCompass = true;
 		cfg.useWakelock = true;
 
 		// Launch the LibGDX core game class.