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Markers rendered almost sucessfully.

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Wally Hackenslacker
2014-05-14 16:56:31 -04:30
parent fbb25ead08
commit a9fa76cb68
6 changed files with 149 additions and 30 deletions
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93
src/ve/ucv/ciens/ccg/nxtar/entities/MarkerTestEntityCreator.java Normal file
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@@ -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();
}
}

15
src/ve/ucv/ciens/ccg/nxtar/network/VideoStreamingThread.java
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@@ -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: " +
Integer.toString(dataMessage.imageWidth) + "x" + Integer.toString(dataMessage.imageHeight));
//Gdx.app.debug(TAG, CLASS_NAME + ".receiveUdp() :: Received frame dimensions are: " + 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);

7
src/ve/ucv/ciens/ccg/nxtar/states/CameraCalibrationState.java
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@@ -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);
}
}

17
src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java
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@@ -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);

43
src/ve/ucv/ciens/ccg/nxtar/systems/MarkerRenderingSystem.java
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@@ -66,18 +66,18 @@ public class MarkerRenderingSystem extends EntityProcessingSystem {
@Override
protected void process(Entity e) {
MarkerCodeComponent marker;
GeometryComponent geometry;
ShaderComponent shaderComp;
MeshComponent meshComp;
GeometryComponent geometry;
ShaderComponent shaderComp;
MeshComponent meshComp;
if(markers == null)
return;
Gdx.app.log(TAG, CLASS_NAME + ".process(): Getting components.");
marker = markerMapper.get(e);
geometry = geometryMapper.get(e);
marker = markerMapper.get(e);
geometry = geometryMapper.get(e);
shaderComp = shaderMapper.get(e);
meshComp = meshMapper.get(e);
meshComp = meshMapper.get(e);
Gdx.app.log(TAG, CLASS_NAME + ".process(): Processing markers.");
for(int i = 0; i < ProjectConstants.MAXIMUM_NUMBER_OF_MARKERS; i++){
@@ -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;

2
src/ve/ucv/ciens/ccg/nxtar/systems/ObjectRenderingSystem.java
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@@ -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);