WallyHackenslacker/NxtAR-core
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Camera calibration successfully ported.

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This commit is contained in:
Wally Hackenslacker
2014-05-02 13:59:15 -04:30
parent e976a17de0
commit d8922182e0
4 changed files with 178 additions and 48 deletions
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19
src/ve/ucv/ciens/ccg/nxtar/states/BaseState.java
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@@ -22,11 +22,16 @@ import com.badlogic.gdx.Screen;
import com.badlogic.gdx.controllers.Controller;
import com.badlogic.gdx.controllers.ControllerListener;
import com.badlogic.gdx.controllers.PovDirection;
import com.badlogic.gdx.graphics.OrthographicCamera;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.math.Vector3;
public abstract class BaseState implements Screen, ControllerListener, InputProcessor {
protected NxtARCore core;
protected boolean stateActive;
protected OrthographicCamera pixelPerfectCamera;
protected Vector3 win2world;
protected Vector2 touchPointWorldCoords;
/* STATE METHODS */
public abstract void onStateSet();
@@ -35,19 +40,33 @@ public abstract class BaseState implements Screen, ControllerListener, InputProc
/* SCREEN METHODS*/
@Override
public abstract void render(float delta);
@Override
public abstract void resize(int width, int height);
@Override
public abstract void show();
@Override
public abstract void hide();
@Override
public abstract void pause();
@Override
public abstract void resume();
@Override
public abstract void dispose();
/* HELPER METHODS */
protected final void unprojectTouch(int screenX, int screenY){
win2world.set(screenX, screenY, 0.0f);
pixelPerfectCamera.unproject(win2world);
touchPointWorldCoords.set(win2world.x, win2world.y);
}
/* INPUT PROCESSOR METHODS. */
@Override
public boolean keyDown(int keycode){

161
src/ve/ucv/ciens/ccg/nxtar/states/CameraCalibrationState.java
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@@ -28,20 +28,28 @@ import com.badlogic.gdx.Gdx;
import com.badlogic.gdx.Input;
import com.badlogic.gdx.controllers.Controller;
import com.badlogic.gdx.controllers.mappings.Ouya;
import com.badlogic.gdx.graphics.Color;
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.BitmapFont;
import com.badlogic.gdx.graphics.g2d.NinePatch;
import com.badlogic.gdx.graphics.g2d.Sprite;
import com.badlogic.gdx.graphics.g2d.TextureRegion;
import com.badlogic.gdx.graphics.g2d.freetype.FreeTypeFontGenerator;
import com.badlogic.gdx.graphics.glutils.ShaderProgram;
import com.badlogic.gdx.math.Rectangle;
import com.badlogic.gdx.math.Vector2;
import com.badlogic.gdx.math.Vector3;
import com.badlogic.gdx.scenes.scene2d.ui.TextButton;
import com.badlogic.gdx.scenes.scene2d.ui.TextButton.TextButtonStyle;
import com.badlogic.gdx.scenes.scene2d.utils.NinePatchDrawable;
public class CameraCalibrationState extends BaseState{
private static final String TAG = "IN_GAME_STATE";
private static final String TAG = "CAMERA_CALIBRATION_STATE";
private static final String CLASS_NAME = CameraCalibrationState.class.getSimpleName();
private static final String SHADER_PATH = "shaders/bckg/bckg";
@@ -54,26 +62,38 @@ public class CameraCalibrationState extends BaseState{
// Cameras.
private OrthographicCamera camera;
private OrthographicCamera pixelPerfectCamera;
// Video stream graphics.
private Texture videoFrameTexture;
private Sprite renderableVideoFrame;
private Pixmap videoFrame;
// Gui components.
private TextButton takeSampleButton;
private Rectangle takeSampleButtonBBox;
private Texture buttonEnabledTexture;
private Texture buttonDisabledTexture;
private Texture buttonPressedTexture;
private NinePatch buttonEnabled9p;
private NinePatch buttonDisabled9p;
private NinePatch buttonPressed9p;
private BitmapFont font;
// Button touch helper fields.
private Vector3 win2world;
private Vector2 touchPointWorldCoords;
private boolean[] motorButtonsTouched;
private int[] motorButtonsPointers;
private boolean[] motorGamepadButtonPressed;
private boolean takeSampleButtonTouched;
private int takeSampleButtonPointer;
// Monitors.
private VideoFrameMonitor frameMonitor;
private float[][] calibrationSamples;
private boolean takeSample;
private int lastSampleTaken;
public CameraCalibrationState(final NxtARCore core){
TextButtonStyle tbs;
FreeTypeFontGenerator generator;
this.core = core;
frameMonitor = VideoFrameMonitor.getInstance();
@@ -92,7 +112,7 @@ public class CameraCalibrationState extends BaseState{
// 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 + ".CameraCalibrationState() :: Failed to compile the background shader.");
Gdx.app.error(TAG, CLASS_NAME + backgroundShader.getLog());
backgroundShader = null;
}
@@ -102,6 +122,42 @@ public class CameraCalibrationState extends BaseState{
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;
// Set up the sampling button.
// Create the font.
generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
font = generator.generateFont(ProjectConstants.MENU_BUTTON_FONT_SIZE, ProjectConstants.FONT_CHARS, false);
generator.dispose();
// Load the textures.
buttonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
buttonEnabled9p = new NinePatch(new TextureRegion(buttonEnabledTexture, 0, 0, buttonEnabledTexture.getWidth(), buttonEnabledTexture.getHeight()), 49, 49, 45, 45);
buttonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
buttonDisabled9p = new NinePatch(new TextureRegion(buttonDisabledTexture, 0, 0, buttonDisabledTexture.getWidth(), buttonDisabledTexture.getHeight()), 49, 49, 45, 45);
buttonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
buttonPressed9p = new NinePatch(new TextureRegion(buttonPressedTexture, 0, 0, buttonPressedTexture.getWidth(), buttonPressedTexture.getHeight()), 49, 49, 45, 45);
// Create the button style.
tbs = new TextButtonStyle();
tbs.font = font;
tbs.up = new NinePatchDrawable(buttonEnabled9p);
tbs.checked = new NinePatchDrawable(buttonPressed9p);
tbs.disabled = new NinePatchDrawable(buttonDisabled9p);
tbs.disabledFontColor = new Color(0, 0, 0, 1);
// Create the button itself.
takeSampleButton = new TextButton("Take calibration sample", tbs);
takeSampleButton.setText("Take calibration sample");
takeSampleButton.setDisabled(true);
takeSampleButtonBBox = new Rectangle(0, 0, takeSampleButton.getWidth(), takeSampleButton.getHeight());
takeSampleButton.setPosition(-(takeSampleButton.getWidth() / 2), -(Gdx.graphics.getHeight()/2) - 1 + (takeSampleButton.getHeight() / 2));
takeSampleButtonBBox.setPosition(takeSampleButton.getX(), takeSampleButton.getY());
// Set up the touch collision detection variables.
win2world = new Vector3(0.0f, 0.0f, 0.0f);
touchPointWorldCoords = new Vector2();
takeSampleButtonTouched = false;
takeSampleButtonPointer = -1;
// Initialize the calibration samples vector.
calibrationSamples = new float[ProjectConstants.CALIBRATION_SAMPLES][];
for(int i = 0; i < calibrationSamples.length; i++){
@@ -115,6 +171,9 @@ public class CameraCalibrationState extends BaseState{
Gdx.input.setCatchBackKey(true);
Gdx.input.setCatchMenuKey(true);
takeSample = false;
lastSampleTaken = 0;
for(int i = 0; i < calibrationSamples.length; i++){
for(int j = 0; j < calibrationSamples[i].length; j++){
calibrationSamples[i][j] = 0.0f;
@@ -134,7 +193,6 @@ public class CameraCalibrationState extends BaseState{
// 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);
@@ -146,12 +204,42 @@ public class CameraCalibrationState extends BaseState{
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();
if(core.cvProc.cameraIsCalibrated()){
frame = core.cvProc.undistortFrame(frame);
}
CVCalibrationData data = core.cvProc.findCalibrationPattern(frame);
if(data.calibrationPoints != null && !core.cvProc.cameraIsCalibrated()){
takeSampleButton.setDisabled(false);
}else{
takeSampleButton.setDisabled(true);
}
if(takeSample && !core.cvProc.cameraIsCalibrated() && data.calibrationPoints != null){
takeSample = false;
Gdx.app.log(TAG, CLASS_NAME + ".render(): Sample taken.");
for(int i = 0; i < data.calibrationPoints.length; i += 2){
Gdx.app.log(TAG, CLASS_NAME + ".render(): Value " + Integer.toString(i) + " = (" + Float.toString(data.calibrationPoints[i]) + ", " + Float.toString(data.calibrationPoints[i + 1]) + ")");
calibrationSamples[lastSampleTaken][i] = data.calibrationPoints[i];
calibrationSamples[lastSampleTaken][i + 1] = data.calibrationPoints[i + 1];
}
lastSampleTaken++;
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);
}
}
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.
@@ -160,7 +248,6 @@ public class CameraCalibrationState extends BaseState{
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());
@@ -176,7 +263,6 @@ public class CameraCalibrationState extends BaseState{
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){
@@ -187,25 +273,22 @@ public class CameraCalibrationState extends BaseState{
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();{
takeSampleButton.draw(core.batch, 1.0f);
}core.batch.end();
}else{
}
// Save this frame as previous to avoid processing the same frame twice
// when network latency is high.
// 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
@@ -231,6 +314,10 @@ public class CameraCalibrationState extends BaseState{
if(backgroundShader != null) backgroundShader.dispose();
}
/*;;;;;;;;;;;;;;;;;;;;;;;;;;
; INPUT LISTENER METHODS ;
;;;;;;;;;;;;;;;;;;;;;;;;;;*/
@Override
public boolean keyDown(int keycode){
if(keycode == Input.Keys.BACK){
@@ -242,17 +329,51 @@ public class CameraCalibrationState extends BaseState{
@Override
public boolean touchDown(int screenX, int screenY, int pointer, int button){
return false;
unprojectTouch(screenX, screenY);
Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown(%d, %d, %d, %d)", screenX, screenY, pointer, button));
Gdx.app.log(TAG, CLASS_NAME + String.format(".touchDown() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
if(!takeSampleButton.isDisabled() && takeSampleButtonBBox.contains(touchPointWorldCoords) && !takeSampleButtonTouched){
takeSampleButton.setChecked(true);
takeSampleButtonTouched = true;
takeSampleButtonPointer = pointer;
Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Sample button pressed.");
}
return true;
}
@Override
public boolean touchUp(int screenX, int screenY, int pointer, int button){
return false;
unprojectTouch(screenX, screenY);
Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp(%d, %d, %d, %d)", screenX, screenY, pointer, button));
Gdx.app.log(TAG, CLASS_NAME + String.format(".touchUp() :: Unprojected touch point: (%f, %f)", touchPointWorldCoords.x, touchPointWorldCoords.y));
if(!takeSampleButton.isDisabled() && takeSampleButtonBBox.contains(touchPointWorldCoords) && takeSampleButtonTouched){
takeSampleButton.setChecked(false);
takeSampleButtonTouched = false;
takeSampleButtonPointer = -1;
takeSample = true;
Gdx.app.log(TAG, CLASS_NAME + ".touchDown() :: Sample button released.");
}
return true;
}
@Override
public boolean touchDragged(int screenX, int screenY, int pointer){
return false;
unprojectTouch(screenX, screenY);
if(!takeSampleButton.isDisabled() && takeSampleButtonTouched && pointer == takeSampleButtonPointer && !takeSampleButtonBBox.contains(touchPointWorldCoords)){
takeSampleButtonPointer = -1;
takeSampleButtonTouched = false;
takeSampleButton.setChecked(false);
Gdx.app.log(TAG, CLASS_NAME + ".touchDragged() :: Sample button released.");
}
return true;
}
@Override

6
src/ve/ucv/ciens/ccg/nxtar/states/InGameState.java
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@@ -76,8 +76,6 @@ public class InGameState extends BaseState{
private Sprite headC;
// Button touch helper fields.
private Vector3 win2world;
private Vector2 touchPointWorldCoords;
private boolean[] motorButtonsTouched;
private int[] motorButtonsPointers;
private boolean[] motorGamepadButtonPressed;
@@ -174,6 +172,10 @@ public class InGameState extends BaseState{
frame = frameMonitor.getCurrentFrame();
if(core.cvProc.cameraIsCalibrated()){
frame = core.cvProc.undistortFrame(frame);
}
data = core.cvProc.findMarkersInFrame(frame);
Gdx.app.log(TAG, CLASS_NAME + ".render(): Frame processed.");

40
src/ve/ucv/ciens/ccg/nxtar/states/MainMenuStateBase.java
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@@ -49,7 +49,6 @@ public abstract class MainMenuStateBase extends BaseState{
// Helper fields.
protected boolean clientConnected;
private float u_scaling[];
protected OrthographicCamera pixelPerfectCamera;
// Buttons and other gui components.
protected TextButton startButton;
@@ -65,9 +64,9 @@ public abstract class MainMenuStateBase extends BaseState{
protected Sprite background;
// Graphic data for the start button.
private Texture startButtonEnabledTexture;
private Texture startButtonDisabledTexture;
private Texture startButtonPressedTexture;
private Texture menuButtonEnabledTexture;
private Texture menuButtonDisabledTexture;
private Texture menuButtonPressedTexture;
private NinePatch menuButtonEnabled9p;
private NinePatch menuButtonDisabled9p;
private NinePatch menuButtonPressed9p;
@@ -82,8 +81,6 @@ public abstract class MainMenuStateBase extends BaseState{
private ShaderProgram backgroundShader;
// Button touch helper fields.
private Vector3 win2world;
protected Vector2 touchPointWorldCoords;
protected boolean startButtonTouched;
protected int startButtonTouchPointer;
protected boolean calibrationButtonTouched;
@@ -92,21 +89,22 @@ public abstract class MainMenuStateBase extends BaseState{
public MainMenuStateBase(){
TextureRegion region;
TextButtonStyle tbs;
FreeTypeFontGenerator generator;
this.pixelPerfectCamera = new OrthographicCamera(Gdx.graphics.getWidth(), Gdx.graphics.getHeight());
// Create the start button background.
startButtonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
menuButtonEnabled9p = new NinePatch(new TextureRegion(startButtonEnabledTexture, 0, 0, startButtonEnabledTexture.getWidth(), startButtonEnabledTexture.getHeight()), 49, 49, 45, 45);
menuButtonEnabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Yellow.png"));
menuButtonEnabled9p = new NinePatch(new TextureRegion(menuButtonEnabledTexture, 0, 0, menuButtonEnabledTexture.getWidth(), menuButtonEnabledTexture.getHeight()), 49, 49, 45, 45);
startButtonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
menuButtonDisabled9p = new NinePatch(new TextureRegion(startButtonDisabledTexture, 0, 0, startButtonDisabledTexture.getWidth(), startButtonDisabledTexture.getHeight()), 49, 49, 45, 45);
menuButtonDisabledTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Cyan.png"));
menuButtonDisabled9p = new NinePatch(new TextureRegion(menuButtonDisabledTexture, 0, 0, menuButtonDisabledTexture.getWidth(), menuButtonDisabledTexture.getHeight()), 49, 49, 45, 45);
startButtonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
menuButtonPressed9p = new NinePatch(new TextureRegion(startButtonPressedTexture, 0, 0, startButtonPressedTexture.getWidth(), startButtonPressedTexture.getHeight()), 49, 49, 45, 45);
menuButtonPressedTexture = new Texture(Gdx.files.internal("data/gfx/gui/Anonymous_Pill_Button_Blue.png"));
menuButtonPressed9p = new NinePatch(new TextureRegion(menuButtonPressedTexture, 0, 0, menuButtonPressedTexture.getWidth(), menuButtonPressedTexture.getHeight()), 49, 49, 45, 45);
// Create the start button font.
FreeTypeFontGenerator generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
generator = new FreeTypeFontGenerator(Gdx.files.internal("data/fonts/d-puntillas-B-to-tiptoe.ttf"));
font = generator.generateFont(ProjectConstants.MENU_BUTTON_FONT_SIZE, ProjectConstants.FONT_CHARS, false);
generator.dispose();
@@ -197,9 +195,9 @@ public abstract class MainMenuStateBase extends BaseState{
@Override
public void dispose(){
startButtonEnabledTexture.dispose();
startButtonDisabledTexture.dispose();
startButtonPressedTexture.dispose();
menuButtonEnabledTexture.dispose();
menuButtonDisabledTexture.dispose();
menuButtonPressedTexture.dispose();
clientConnectedLedOnTexture.dispose();
clientConnectedLedOffTexture.dispose();
cameraCalibratedLedOnTexture.dispose();
@@ -240,16 +238,6 @@ public abstract class MainMenuStateBase extends BaseState{
calibrationButton.setDisabled(false);
}
/*;;;;;;;;;;;;;;;;;;
; HELPER METHODS ;
;;;;;;;;;;;;;;;;;;*/
protected void unprojectTouch(int screenX, int screenY){
win2world.set(screenX, screenY, 0.0f);
pixelPerfectCamera.unproject(win2world);
touchPointWorldCoords.set(win2world.x, win2world.y);
}
/*;;;;;;;;;;;;;;;;;;;;;;;;;;
; INPUT LISTENER METHODS ;
;;;;;;;;;;;;;;;;;;;;;;;;;;*/