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Continued implementation of the calibration state and interface.

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This commit is contained in:
Wally Hackenslacker
2014-04-30 16:21:03 -04:30
parent 139bb62067
commit 11ebf2b96e
3 changed files with 175 additions and 17 deletions
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12
src/ve/ucv/ciens/ccg/nxtar/interfaces/CVProcessor.java
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@@ -16,13 +16,19 @@
package ve.ucv.ciens.ccg.nxtar.interfaces;
public interface CVProcessor {
public class CVData{
public class CVMarkerData{
public byte[] outFrame;
public int[] markerCodes;
// TODO: Add marker location data.
}
public CVData findMarkersInFrame(byte[] frame, int w, int h);
public class CVCalibrationData{
public byte[] outFrame;
public float[] calibrationPoints;
}
public void calibrateCamera();
public CVMarkerData findMarkersInFrame(byte[] frame);
public CVCalibrationData findCalibrationPattern(byte[] frame);
public void calibrateCamera(float[][] calibrationSamples, byte[] frame);
public byte[] undistortFrame(byte[] frame);
}

164
src/ve/ucv/ciens/ccg/nxtar/states/CameraCalibrationState.java
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@@ -15,14 +15,92 @@
*/
package ve.ucv.ciens.ccg.nxtar.states;
import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
import java.util.Arrays;
import ve.ucv.ciens.ccg.nxtar.NxtARCore;
import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor.CVCalibrationData;
import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
import ve.ucv.ciens.ccg.nxtar.utils.Size;
import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.controllers.Controller;
import com.badlogic.gdx.controllers.mappings.Ouya;
import com.badlogic.gdx.graphics.GL20;
import com.badlogic.gdx.graphics.OrthographicCamera;
import com.badlogic.gdx.graphics.Pixmap;
import com.badlogic.gdx.graphics.Texture;
import com.badlogic.gdx.graphics.Texture.TextureFilter;
import com.badlogic.gdx.graphics.Texture.TextureWrap;
import com.badlogic.gdx.graphics.g2d.Sprite;
import com.badlogic.gdx.graphics.g2d.TextureRegion;
import com.badlogic.gdx.graphics.glutils.ShaderProgram;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.math.Vector3;
public class CameraCalibrationState extends BaseState{
private static final String TAG = "IN_GAME_STATE";
private static final String CLASS_NAME = CameraCalibrationState.class.getSimpleName();
private static final String SHADER_PATH = "shaders/bckg/bckg";
private NxtARCore core;
private float u_scaling[];
protected Sprite background;
private Texture backgroundTexture;
private ShaderProgram backgroundShader;
// Cameras.
private OrthographicCamera camera;
private OrthographicCamera pixelPerfectCamera;
// Video stream graphics.
private Texture videoFrameTexture;
private Sprite renderableVideoFrame;
private Pixmap videoFrame;
// Button touch helper fields.
private Vector3 win2world;
private Vector2 touchPointWorldCoords;
private boolean[] motorButtonsTouched;
private int[] motorButtonsPointers;
private boolean[] motorGamepadButtonPressed;
// Monitors.
private VideoFrameMonitor frameMonitor;
private float[][] calibrationSamples;
public CameraCalibrationState(){
public CameraCalibrationState(final NxtARCore core){
this.core = core;
frameMonitor = VideoFrameMonitor.getInstance();
// Set up the cameras.
pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
camera = new OrthographicCamera(1.0f, Gdx.graphics.getHeight() / Gdx.graphics.getWidth());
// Set up the background.
backgroundTexture = new Texture(Gdx.files.internal("data/gfx/textures/tile_aqua.png"));
backgroundTexture.setWrap(TextureWrap.Repeat, TextureWrap.Repeat);
backgroundTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
background = new Sprite(backgroundTexture);
background.setSize(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
background.setPosition(-(Gdx.graphics.getWidth() / 2), -(Gdx.graphics.getHeight() / 2));
// Load the background shader.
backgroundShader = new ShaderProgram(Gdx.files.internal(SHADER_PATH + ".vert"), Gdx.files.internal(SHADER_PATH + ".frag"));
if(!backgroundShader.isCompiled()){
Gdx.app.error(TAG, CLASS_NAME + ".MainMenuStateBase() :: Failed to compile the background shader.");
Gdx.app.error(TAG, CLASS_NAME + backgroundShader.getLog());
backgroundShader = null;
}
// Set up the background scaling.
u_scaling = new float[2];
u_scaling[0] = Gdx.graphics.getWidth() > Gdx.graphics.getHeight() ? 16.0f : 9.0f;
u_scaling[1] = Gdx.graphics.getHeight() > Gdx.graphics.getWidth() ? 16.0f : 9.0f;
// Initialize the calibration samples vector.
calibrationSamples = new float[ProjectConstants.CALIBRATION_SAMPLES][];
for(int i = 0; i < calibrationSamples.length; i++){
calibrationSamples[i] = new float[ProjectConstants.CALIBRATION_PATTERN_POINTS * 2];
@@ -42,7 +120,87 @@ public class CameraCalibrationState extends BaseState{
public void onStateUnset(){ }
@Override
public void render(float delta){ }
public void render(float delta){
byte[] frame;
byte[] prevFrame = null;
Size dimensions = null;
// Clear the screen.
Gdx.gl.glClearColor(1, 1, 1, 1);
Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
Gdx.app.log(TAG, CLASS_NAME + ".render(): Frame buffer cleared.");
// Render the background.
core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
core.batch.begin();{
if(backgroundShader != null){
core.batch.setShader(backgroundShader);
backgroundShader.setUniform2fv("u_scaling", u_scaling, 0, 2);
}
background.draw(core.batch);
if(backgroundShader != null) core.batch.setShader(null);
}core.batch.end();
Gdx.app.log(TAG, CLASS_NAME + ".render(): Background drawn.");
// Fetch the current video frame and find the calibration pattern in it.
frame = frameMonitor.getCurrentFrame();
CVCalibrationData data = core.cvProc.findCalibrationPattern(frame);
if(frame != null && data != null && data.outFrame != null && !Arrays.equals(frame, prevFrame)){
// If the received frame is valid and is different from the previous frame.
// Make a texture from the frame.
dimensions = frameMonitor.getFrameDimensions();
videoFrame = new Pixmap(data.outFrame, 0, dimensions.getWidth() * dimensions.getHeight());
videoFrameTexture = new Texture(videoFrame);
videoFrameTexture.setFilter(TextureFilter.Linear, TextureFilter.Linear);
videoFrame.dispose();
Gdx.app.log(TAG, CLASS_NAME + ".render(): Texture created.");
// Set up the frame texture as a rendereable sprite.
TextureRegion region = new TextureRegion(videoFrameTexture, 0, 0, dimensions.getWidth(), dimensions.getHeight());
renderableVideoFrame = new Sprite(region);
renderableVideoFrame.setOrigin(renderableVideoFrame.getWidth() / 2, renderableVideoFrame.getHeight() / 2);
if(!Ouya.runningOnOuya){
renderableVideoFrame.setSize(1.0f, renderableVideoFrame.getHeight() / renderableVideoFrame.getWidth() );
renderableVideoFrame.rotate90(true);
renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, 0.5f - renderableVideoFrame.getHeight());
}else{
float xSize = Gdx.graphics.getHeight() * (dimensions.getWidth() / dimensions.getHeight());
renderableVideoFrame.setSize(xSize * ProjectConstants.OVERSCAN, Gdx.graphics.getHeight() * ProjectConstants.OVERSCAN);
renderableVideoFrame.rotate90(true);
renderableVideoFrame.translate(-renderableVideoFrame.getWidth() / 2, -renderableVideoFrame.getHeight() / 2);
}
Gdx.app.log(TAG, CLASS_NAME + ".render(): Texture resized and positioned.");
// Render the frame.
if(!Ouya.runningOnOuya){
core.batch.setProjectionMatrix(camera.combined);
}else{
core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
}
core.batch.begin();{
renderableVideoFrame.draw(core.batch);
}core.batch.end();
Gdx.app.log(TAG, CLASS_NAME + ".render(): Texture drawn.");
// Clear texture memory.
videoFrameTexture.dispose();
Gdx.app.log(TAG, CLASS_NAME + ".render(): Texture released.");
}
// Render the user interface.
if(!Ouya.runningOnOuya){
core.batch.setProjectionMatrix(pixelPerfectCamera.combined);
core.batch.begin();{
}core.batch.end();
}else{
}
// Save this frame as previous to avoid processing the same frame twice
// when network latency is high.
prevFrame = frame;
Gdx.app.log(TAG, CLASS_NAME + ".render(): Render complete.");
}
@Override
public void resize(int width, int height){ }

14
src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java
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@@ -21,7 +21,7 @@ import ve.ucv.ciens.ccg.networkdata.MotorEvent;
import ve.ucv.ciens.ccg.networkdata.MotorEvent.motor_t;
import ve.ucv.ciens.ccg.nxtar.NxtARCore;
import ve.ucv.ciens.ccg.nxtar.NxtARCore.game_states_t;
import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor.CVData;
import ve.ucv.ciens.ccg.nxtar.interfaces.CVProcessor.CVMarkerData;
import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
import ve.ucv.ciens.ccg.nxtar.network.monitors.VideoFrameMonitor;
import ve.ucv.ciens.ccg.nxtar.utils.ProjectConstants;
@@ -153,11 +153,10 @@ public class InGameState extends BaseState{
@Override
public void render(float delta){
int fW, fH;
byte[] frame;
byte[] prevFrame = null;
Size dimensions = null;
CVData data;
CVMarkerData data;
Gdx.gl.glClearColor(1, 1, 1, 1);
Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT);
@@ -175,10 +174,8 @@ public class InGameState extends BaseState{
Gdx.app.log(TAG, CLASS_NAME + ".render(): Background drawn.");
frame = frameMonitor.getCurrentFrame();
fW = frameMonitor.getFrameDimensions().getWidth();
fH = frameMonitor.getFrameDimensions().getHeight();
data = core.cvProc.findMarkersInFrame(frame, fW, fH);
data = core.cvProc.findMarkersInFrame(frame);
Gdx.app.log(TAG, CLASS_NAME + ".render(): Frame processed.");
/*if(data != null){
@@ -243,10 +240,7 @@ public class InGameState extends BaseState{
}
@Override
public void resize(int width, int height){
// TODO Auto-generated method stub
}
public void resize(int width, int height){ }
@Override
public void show(){ }