Markers rendered almost sucessfully.

src/ve/ucv/ciens/ccg/nxtar/entities/MarkerTestEntityCreator.java

@@ -0,0 +1,93 @@
+/*
+ * 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.
+ */
+package ve.ucv.ciens.ccg.nxtar.entities;
+
+import ve.ucv.ciens.ccg.nxtar.components.GeometryComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MarkerCodeComponent;
+import ve.ucv.ciens.ccg.nxtar.components.MeshComponent;
+import ve.ucv.ciens.ccg.nxtar.components.ShaderComponent;
+import ve.ucv.ciens.ccg.nxtar.exceptions.ShaderFailedToLoadException;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.CustomShaderBase;
+import ve.ucv.ciens.ccg.nxtar.graphics.shaders.SingleLightPhongShader;
+
+import com.artemis.Entity;
+import com.badlogic.gdx.Gdx;
+import com.badlogic.gdx.graphics.GL20;
+import com.badlogic.gdx.graphics.Mesh;
+import com.badlogic.gdx.graphics.VertexAttribute;
+import com.badlogic.gdx.graphics.VertexAttributes;
+import com.badlogic.gdx.graphics.VertexAttributes.Usage;
+import com.badlogic.gdx.graphics.g3d.utils.MeshBuilder;
+import com.badlogic.gdx.math.Matrix3;
+import com.badlogic.gdx.math.Vector3;
+
+public class MarkerTestEntityCreator extends EntityCreatorBase {
+	private static final String TAG = "MARKER_TEST_ENTITY_CREATOR";
+	private static final String CLASS_NAME = MarkerTestEntityCreator.class.getSimpleName();
+
+	private Mesh markerMesh;
+	private CustomShaderBase phongShader;
+
+	@Override
+	public void createAllEntities() {
+		MeshBuilder builder;
+		Matrix3 identity = new Matrix3().idt();
+		Entity marker;
+
+		// Create mesh.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the meshes.");
+		builder = new MeshBuilder();
+		builder.begin(new VertexAttributes(new VertexAttribute(Usage.Position, 3, "a_position"), new VertexAttribute(Usage.Normal, 3, "a_normal"), new VertexAttribute(Usage.Color, 4, "a_color")), GL20.GL_TRIANGLES);{
+			builder.setColor(1.0f, 1.0f, 1.0f, 1.0f);
+			Vector3 v00 = new Vector3(-0.5f, -0.5f, 0.0f);
+			Vector3 v10 = new Vector3(-0.5f,  0.5f, 0.0f);
+			Vector3 v11 = new Vector3( 0.5f,  0.5f, 0.0f);
+			Vector3 v01 = new Vector3( 0.5f, -0.5f, 0.0f);
+			Vector3 n = new Vector3(0.0f, 1.0f, 0.0f);
+			builder.patch(v00, v10, v11, v01, n, 10, 10);
+		}markerMesh = builder.end();
+
+		// Load the phong shader.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Loading the phong shader.");
+		try{
+			phongShader = new SingleLightPhongShader().loadShader();
+		}catch(ShaderFailedToLoadException se){
+			Gdx.app.error(TAG, CLASS_NAME + ".InGameState(): " + se.getMessage());
+			Gdx.app.exit();
+		}
+
+		// Create the entities.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Creating the enitites.");
+		marker = world.createEntity();
+		marker.addComponent(new GeometryComponent(new Vector3(0.0f, 0.0f, 0.0f), identity, new Vector3(1.0f, 1.0f, 1.0f)));
+		marker.addComponent(new MeshComponent(markerMesh));
+		marker.addComponent(new ShaderComponent(phongShader));
+		marker.addComponent(new MarkerCodeComponent(213));
+
+		// Add the entities to the world.
+		Gdx.app.log(TAG, CLASS_NAME + ".createAllEntities(): Adding entities to the world.");
+		marker.addToWorld();
+	}
+
+	@Override
+	public void dispose() {
+		if(phongShader != null && phongShader.getShaderProgram() != null)
+			phongShader.getShaderProgram().dispose();
+
+		if(markerMesh != null)
+			markerMesh.dispose();
+	}
+}

src/ve/ucv/ciens/ccg/nxtar/network/VideoStreamingThread.java

@@ -138,7 +138,7 @@ public class VideoStreamingThread extends Thread{
 			VideoFrameDataMessage dataMessage;
 			Object tmpMessage;
 
-			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message size from socket.");
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message size from socket.");
 			try{
 				packet = new DatagramPacket(size, size.length);
 				socket.receive(packet);
@@ -148,11 +148,11 @@ public class VideoStreamingThread extends Thread{
 				return;
 			}
 
-			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Creating buffers.");
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Creating buffers.");
 			intSize = byteArray2Int(size);
 			data = new byte[intSize];
 
-			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message from socket.");
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Reading message from socket.");
 			try{
 				packet = new DatagramPacket(data, data.length);
 				socket.receive(packet);
@@ -164,17 +164,16 @@ public class VideoStreamingThread extends Thread{
 
 			ByteArrayInputStream bais = new ByteArrayInputStream(data);
 
-			Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Saving message in monitor.");
+			//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Saving message in monitor.");
 			try{
 				ObjectInputStream ois = new ObjectInputStream(bais);
 				tmpMessage = ois.readObject();
 
 				if(tmpMessage instanceof VideoFrameDataMessage){
-					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received a data message.");
+					//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received a data message.");
 					dataMessage = (VideoFrameDataMessage) tmpMessage;
 
-					Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received frame dimensions are: " +
+					//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received frame dimensions are: " + Integer.toString(dataMessage.imageWidth) + "x" + Integer.toString(dataMessage.imageHeight));
-							Integer.toString(dataMessage.imageWidth) + "x" + Integer.toString(dataMessage.imageHeight));
 					frameMonitor.setFrameDimensions(dataMessage.imageWidth, dataMessage.imageHeight);
 					frameMonitor.setNewFrame(dataMessage.data);
 
@@ -218,7 +217,7 @@ public class VideoStreamingThread extends Thread{
 					try{ pauseMonitor.wait(); }catch(InterruptedException ie){ }
 				}
 			}
-			Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Receiving.");
+			//Gdx.app.debug(TAG, CLASS_NAME + ".run() :: Receiving.");
 			if(netListener != null && !coreNotified && frameMonitor.getCurrentFrame() != null){
 				coreNotified = true;
 				netListener.networkStreamConnected(THREAD_NAME);

src/ve/ucv/ciens/ccg/nxtar/states/CameraCalibrationState.java

@@ -210,9 +210,9 @@ public class CameraCalibrationState extends BaseState{
 		frame = frameMonitor.getCurrentFrame();
 
 		// Apply the undistortion method if the camera has been calibrated already.
-		if(core.cvProc.isCameraCalibrated()){
+		/*if(core.cvProc.isCameraCalibrated()){
 			frame = core.cvProc.undistortFrame(frame);
-		}
+		}*/
 
 		// Find the calibration points in the video frame.
 		CalibrationData data = core.cvProc.findCalibrationPattern(frame);
@@ -248,8 +248,9 @@ public class CameraCalibrationState extends BaseState{
 			if(lastSampleTaken == ProjectConstants.CALIBRATION_SAMPLES){
 				Gdx.app.log(TAG, CLASS_NAME + "render(): Last sample taken.");
 
-				core.toast("Calibrating camera", false);
 				core.cvProc.calibrateCamera(calibrationSamples, frame);
+				msg = "Camera successfully calibrated";
+				core.toast(msg, true);
 			}
 		}
 

src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java

@@ -20,7 +20,7 @@ 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.entities.EntityCreatorBase;
-import ve.ucv.ciens.ccg.nxtar.entities.TestGameEntityCreator;
+import ve.ucv.ciens.ccg.nxtar.entities.MarkerTestEntityCreator;
 import ve.ucv.ciens.ccg.nxtar.graphics.RenderParameters;
 import ve.ucv.ciens.ccg.nxtar.interfaces.ImageProcessor.MarkerData;
 import ve.ucv.ciens.ccg.nxtar.network.monitors.MotorEventQueue;
@@ -171,9 +171,8 @@ public class InGameState extends BaseState{
 
 		// Set up the game world.
 		gameWorld = new World();
-		entityCreator = new TestGameEntityCreator();
+		entityCreator = new MarkerTestEntityCreator();
 		entityCreator.setWorld(gameWorld);
-
 		entityCreator.createAllEntities();
 		gameWorld.setSystem(new MarkerPositioningSystem());
 		gameWorld.setSystem(new MarkerRenderingSystem(), true);
@@ -215,21 +214,21 @@ public class InGameState extends BaseState{
 
 		// Create the 3D perspective camera and the frame buffer object if they don't exist.
 		if(camera3D == null && frameBuffer == null){
-			frameBuffer = new FrameBuffer(Format.RGBA4444, w, h, true);
+			frameBuffer = new FrameBuffer(Format.RGBA8888, w, h, true);
 			frameBuffer.getColorBufferTexture().setFilter(TextureFilter.Linear, TextureFilter.Linear);
 
 			camera3D = new PerspectiveCamera(67, w, h);
-			camera3D.translate(0.0f, 0.0f, 2.0f);
+			camera3D.translate(0.0f, 0.0f, 0.0f);
 			camera3D.near = 0.01f;
 			camera3D.far = 100.0f;
-			camera3D.lookAt(0.0f, 0.0f, 0.0f);
+			camera3D.lookAt(0.0f, 0.0f, -1.0f);
 			camera3D.update();
 		}
 
 		// Apply the undistortion method if the camera has been calibrated already.
-		if(core.cvProc.isCameraCalibrated()){
+		/*if(core.cvProc.isCameraCalibrated()){
 			frame = core.cvProc.undistortFrame(frame);
-		}
+		}*/
 
 		// Attempt to find the markers in the current video frame.
 		data = core.cvProc.findMarkersInFrame(frame);
@@ -258,11 +257,11 @@ public class InGameState extends BaseState{
 
 			// Set the 3D frame buffer for rendering.
 			frameBuffer.begin();{
+				Gdx.gl.glDisable(GL20.GL_CULL_FACE);
 				Gdx.gl.glEnable(GL20.GL_DEPTH_TEST);
 				Gdx.gl.glClearColor(1, 1, 1, 0);
 				Gdx.gl.glClear(GL20.GL_COLOR_BUFFER_BIT | GL20.GL_DEPTH_BUFFER_BIT);
 
-				// Render the current state of the game.
 				RenderParameters.setModelViewProjectionMatrix(camera3D.combined);
 				RenderParameters.setEyePosition(camera3D.position);
 				gameWorld.getSystem(MarkerRenderingSystem.class).setMarkerData(data);

src/ve/ucv/ciens/ccg/nxtar/systems/MarkerRenderingSystem.java

@@ -86,9 +86,36 @@ public class MarkerRenderingSystem extends EntityProcessingSystem {
 					Gdx.app.log(TAG, CLASS_NAME + ".process(): Rendering marker code " + Integer.toString(markers.markerCodes[i]) + ".");
 					// Set the geometric transformations.
 					translationMatrix.setToTranslation(geometry.position);
-					rotationMatrix.set(geometry.rotation);
+
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): TRANSLATION:");
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): (" + Float.toString(geometry.position.x) + ", " + Float.toString(geometry.position.y) + ", " + Float.toString(geometry.position.z) + ")");
+
+					rotationMatrix.val[0] = geometry.rotation.val[0];
+					rotationMatrix.val[1] = geometry.rotation.val[1];
+					rotationMatrix.val[2] = geometry.rotation.val[2];
+					rotationMatrix.val[3] = 0;
+					rotationMatrix.val[4] = geometry.rotation.val[3];
+					rotationMatrix.val[5] = geometry.rotation.val[4];
+					rotationMatrix.val[6] = geometry.rotation.val[5];
+					rotationMatrix.val[7] = 0;
+					rotationMatrix.val[8] = geometry.rotation.val[6];
+					rotationMatrix.val[9] = geometry.rotation.val[7];
+					rotationMatrix.val[10] = geometry.rotation.val[8];
+					rotationMatrix.val[11] = 0;
+					rotationMatrix.val[12] = 0;
+					rotationMatrix.val[13] = 0;
+					rotationMatrix.val[14] = 0;
+					rotationMatrix.val[15] = 1;
+					//rotationMatrix.idt();
+
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): ROTATION:");
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): |" + Float.toString(rotationMatrix.val[0]) + ", " + Float.toString(rotationMatrix.val[4]) + ", " + Float.toString(rotationMatrix.val[8]) + ", " + Float.toString(rotationMatrix.val[12]) + "|");
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): |" + Float.toString(rotationMatrix.val[1]) + ", " + Float.toString(rotationMatrix.val[5]) + ", " + Float.toString(rotationMatrix.val[9]) + ", " + Float.toString(rotationMatrix.val[13]) + "|");
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): |" + Float.toString(rotationMatrix.val[2]) + ", " + Float.toString(rotationMatrix.val[6]) + ", " + Float.toString(rotationMatrix.val[10]) + ", " + Float.toString(rotationMatrix.val[14]) + "|");
+					Gdx.app.log(TAG, CLASS_NAME + ".process(): |" + Float.toString(rotationMatrix.val[3]) + ", " + Float.toString(rotationMatrix.val[7]) + ", " + Float.toString(rotationMatrix.val[11]) + ", " + Float.toString(rotationMatrix.val[15]) + "|");
+
 					scalingMatrix.setToScaling(geometry.scaling);
-					combinedTransformationMatrix.idt().mul(scalingMatrix).mul(rotationMatrix).mul(translationMatrix);
+					combinedTransformationMatrix.idt().mul(translationMatrix).mul(rotationMatrix).mul(scalingMatrix);
 					RenderParameters.setTransformationMatrix(combinedTransformationMatrix);
 
 					// Render the marker;

src/ve/ucv/ciens/ccg/nxtar/systems/ObjectRenderingSystem.java

@@ -100,7 +100,7 @@ public class ObjectRenderingSystem extends EntityProcessingSystem {
 		translationMatrix.setToTranslation(geometryComponent.position);
 		rotationMatrix.set(geometryComponent.rotation);
 		scalingMatrix.setToScaling(geometryComponent.scaling);
-		combinedTransformationMatrix.idt().mul(scalingMatrix).mul(rotationMatrix).mul(translationMatrix);
+		combinedTransformationMatrix.idt().mul(translationMatrix).mul(rotationMatrix).mul(scalingMatrix);
 
 		// Set up the global rendering parameters for this frame.
 		RenderParameters.setTransformationMatrix(combinedTransformationMatrix);