Camera calibration successfully ported.

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

@@ -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){

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

@@ -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 boolean takeSampleButtonTouched;
-	private Vector2 touchPointWorldCoords;
+	private int takeSampleButtonPointer;
-	private boolean[] motorButtonsTouched;
-	private int[] motorButtonsPointers;
-	private boolean[] motorGamepadButtonPressed;
 
 	// 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
+		// Save this frame as previous to avoid processing the same frame twice when network latency is high.
-		// 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

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

@@ -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.");
 

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

@@ -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 menuButtonEnabledTexture;
-	private Texture startButtonDisabledTexture;
+	private Texture menuButtonDisabledTexture;
-	private Texture startButtonPressedTexture;
+	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"));
+		menuButtonEnabledTexture = 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);
+		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"));
+		menuButtonDisabledTexture = 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);
+		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"));
+		menuButtonPressedTexture = 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);
+		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();
+		menuButtonEnabledTexture.dispose();
-		startButtonDisabledTexture.dispose();
+		menuButtonDisabledTexture.dispose();
-		startButtonPressedTexture.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 ;
 	  ;;;;;;;;;;;;;;;;;;;;;;;;;;*/