Difference between revisions of "Android Controller"
From Immersive Visualization Lab Wiki
(→ARToolkit) |
(→ARToolkit) |
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====ARToolkit==== | ====ARToolkit==== | ||
| − | *[http://www.hitl.washington.edu/artoolkit/] | + | *ARToolkit [http://www.hitl.washington.edu/artoolkit/] |
| − | *There is also a java port | + | *There is also a java port [http://code.google.com/p/andar/] |
Markers Code from Daniel | Markers Code from Daniel | ||
Revision as of 21:26, 4 June 2011
Contents |
Android Controller
Jeanne Wang
Objective
Create an intuitive and novel approach to a tablet based multi-touch and sensor-enabled controller for a real-time 3D visualization on a 2D platform. Using camera pose information relative to a 3D model displayed on a screen, we can display virtual camera shots in the 3D model space on the tablet.
Android Basics:
- Sandboxed in a linux environment, each application is actually a user
- Model View Controller setup
- Model - Content providers
- View - XML
- Controller - Activity, or Service
- UI Views
<?xml version="1.0" encoding="utf-8"?>
<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:orientation="vertical" >
<LinearLayout
android:layout_width="wrap_content"
android:layout_height="wrap_content"
android:padding="10dp">
<SeekBar android:id="@+id/seekBar1" android:layout_marginLeft="10dip" android:layout_width="200dip" android:layout_height="wrap_content"></SeekBar>
<TextView android:text="@string/hello"
android:layout_height="wrap_content"
android:layout_marginLeft="10dip"
android:id="@+id/seekBarText"
android:layout_width="wrap_content"
android:layout_alignParentRight="true">
</TextView>
</LinearLayout>
<RelativeLayout
android:layout_width="fill_parent"
android:layout_height="fill_parent">
<Button
android:layout_height="wrap_content"
android:id="@+id/button2"
android:layout_width="wrap_content"
android:text="type some text"
android:layout_below="@+id/button3"
android:layout_alignRight="@+id/button3">
</Button>
<Button
android:layout_height="wrap_content"
android:id="@+id/button4"
android:layout_width="wrap_content"
android:text="camera"
android:layout_below="@+id/button2">
</Button>
<Button
android:layout_height="wrap_content"
android:id="@+id/button1"
android:layout_width="wrap_content"
android:text="socket send"
android:layout_below="@+id/button4"
android:layout_alignLeft="@+id/button4"
android:layout_alignRight="@+id/button4">
</Button>
<Button
android:layout_height="wrap_content"
android:id="@+id/button3"
android:layout_width="wrap_content"
android:text="touch screen"
android:layout_alignParentLeft="true"></Button>
</RelativeLayout>
<ImageView
android:id="@+id/photoResultView"
android:layout_width="wrap_content"
android:layout_height="wrap_content"
></ImageView>
</LinearLayout>
- UI Control Component
- Buttons
Button button = (Button)findViewById(R.id.button1); button.setOnClickListener(buttonOnClick);
- Sliders
SeekBar seekbar=(SeekBar)findViewById(R.id.seekBar1); seekbar.setOnSeekBarChangeListener(sbar);
- TextView
TextView seekbartxt=(TextView)findViewById(R.id.seekBarText); CharSequence t="slider progress:"+progress; seekbartxt.setText(t);
- EditText
- In Android manifest make sure to enable soft keyboard
- EditText
<activity android:name=".TypeText"
android:windowSoftInputMode="stateAlwaysVisible|adjustResize">
</activity>
EditText edtView=(EditText)findViewById(R.id.EditText01); edtView.setInputType(InputType.TYPE_CLASS_TEXT);
- Toasts (timed popups)
int duration = Toast.LENGTH_SHORT;
View v;
CharSequence text = "button "+v.getId()+" pressed";
Toast t=Toast.makeText(v.getContext(),text, duration);
t.show();
- Listeners
- OnClickListener
private OnClickListener showCamera = new OnClickListener() {
public void onClick(View v) {
//do stuff here
}
- OnSeekBarChangeListener
private SeekBar.OnSeekBarChangeListener sbar = new SeekBar.OnSeekBarChangeListener()
{
public void onStopTrackingTouch(SeekBar seekBar) {
}
public void onStartTrackingTouch(SeekBar seekBar) {
}
public void onProgressChanged(SeekBar seekBar, int progress,
boolean fromUser) {
}
};
- OnTouchListener
LinearLayout screen =(LinearLayout)findViewById(R.id.touch);
screen.setOnTouchListener(new View.OnTouchListener() {
public boolean onTouch(View v, MotionEvent e) {
float x = e.getX();
float y = e.getY();
TextView text=(TextView)findViewById(R.id.touchtext);
CharSequence t="x:"+x+", y:"+y;
text.setText(t);
return true;
}
});
- Start New Intent
Intent myIntent = new Intent(v.getContext(), TouchScreen.class); startActivityForResult(myIntent, 0);
- Sockets
- In Android Manifest be sure to enable internet usage
<uses-permission android:name="android.permission.INTERNET" />
public void sendSocket(String sendStr, String textStr)
{
try {
//Socket s = new Socket("137.110.119.121",11011); // TourCAVE
Socket s = new Socket("137.110.118.26",3412); // sessions
//Socket s = new Socket("137.110.115.194",11011); // HP laptop
//outgoing stream redirect to socket
OutputStream out = s.getOutputStream();
PrintWriter output = new PrintWriter(out);
output.println(sendStr);
output.close(); // required to actually send the text
Context context = getApplicationContext();
Toast.makeText(context, textStr, Toast.LENGTH_SHORT).show();
//Close connection
s.close();
} catch (UnknownHostException e) {
Context context = getApplicationContext();
Toast.makeText(context, "UnknownHostException!",
Toast.LENGTH_SHORT).show();
e.printStackTrace();
} catch (IOException e) {
Context context = getApplicationContext();
Toast.makeText(context, "IOException! "+e,
Toast.LENGTH_SHORT).show();
e.printStackTrace();
}
}
- Using sockets to get IP Address
Socket s = new Socket("137.110.115.194",11011); // HP laptop
String myIPAddress = s.getLocalAddress().toString();
- Camera
- In Android manifest be sure to include camera capabilities
<uses-permission android:name="android.permission.CAMERA" /> <uses-feature android:name="android.hardware.camera" /> <uses-feature android:name="android.hardware.camera.autofocus" />
- Default Camera
private static int CAMERA_PIC_REQUEST = 10232;
Intent intent = new Intent(MediaStore.ACTION_IMAGE_CAPTURE);
intent.putExtra(MediaStore.EXTRA_VIDEO_QUALITY, 1);
startActivityForResult(intent, CAMERA_PIC_REQUEST);
protected void onActivityResult(int requestCode, int resultCode, Intent data) {
if (requestCode == CAMERA_PIC_REQUEST) {
android.graphics.Bitmap thumbnail = (android.graphics.Bitmap) data.getExtras().get("data");
ImageView image = (ImageView) findViewById(R.id.photoResultView);
image.setImageBitmap(thumbnail);
}
}
- Custom Camera
package jeanne.prime.tablet;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
import android.content.Context;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Paint;
import android.hardware.Camera;
import android.hardware.Camera.PreviewCallback;
import android.util.Log;
import android.view.SurfaceHolder;
import android.view.SurfaceView;
class Preview extends SurfaceView implements SurfaceHolder.Callback {
private static final String TAG = "Preview";
SurfaceHolder mHolder;
public Camera camera;
Preview(Context context) {
super(context);
// Install a SurfaceHolder.Callback so we get notified when the
// underlying surface is created and destroyed.
mHolder = getHolder();
mHolder.addCallback(this);
mHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS);
}
public void surfaceCreated(SurfaceHolder holder) {
// The Surface has been created, acquire the camera and tell it where
// to draw.
camera = Camera.open();
try {
camera.setPreviewDisplay(holder);
camera.setPreviewCallback(new PreviewCallback() {
public void onPreviewFrame(byte[] data, Camera arg1) {
//FileOutputStream outStream = null;
try {
Log.d(TAG, "onPreviewFrame - wrote bytes: "
+ data.length);
} finally {
}
Preview.this.invalidate();
}
});
} catch (IOException e) {
e.printStackTrace();
}
}
public void surfaceDestroyed(SurfaceHolder holder) {
// Surface will be destroyed when we return, so stop the preview.
// Because the CameraDevice object is not a shared resource, it's very
// important to release it when the activity is paused.
camera.stopPreview();
camera.release();
camera = null;
Log.d(TAG,"surfaceDestroyed");
}
public void surfaceChanged(SurfaceHolder holder, int format, int w, int h) {
// Now that the size is known, set up the camera parameters and begin
// the preview.
Camera.Parameters parameters = camera.getParameters();
parameters.setPreviewSize(w, h);
parameters.setPictureSize(100, 60);
camera.setParameters(parameters);
camera.startPreview();
}
@Override
public void draw(Canvas canvas) {
super.draw(canvas);
Paint p = new Paint(Color.RED);
Log.d(TAG, "draw");
canvas.drawText("PREVIEW", canvas.getWidth() / 2,
canvas.getHeight() / 2, p);
}
}
package jeanne.prime.tablet;
import java.io.BufferedOutputStream;
import java.io.ByteArrayOutputStream;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.net.Socket;
import java.net.UnknownHostException;
import android.app.Activity;
import android.content.Context;
import android.content.Intent;
import android.hardware.Camera;
import android.hardware.Camera.PictureCallback;
import android.hardware.Camera.ShutterCallback;
import android.os.Bundle;
import android.util.Log;
import android.view.SurfaceHolder;
import android.view.View;
import android.view.View.OnClickListener;
import android.widget.Button;
import android.widget.FrameLayout;
import android.widget.Toast;
/*
* http://marakana.com/forums/android/examples/39.html
* http://developer.android.com/resources/samples/ApiDemos/src/com/example/android/apis/graphics/CameraPreview.html
* http://mobile.tutsplus.com/tutorials/android/android-sdk-quick-tip-launching-the-camera/
*/
public class CameraDemo extends Activity {
private static final String TAG = "CameraDemo";
Preview preview;
Button buttonClick;
Socket s;
/** Called when the activity is first created. */
@Override
public void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.camera);
preview = new Preview(this);
((FrameLayout) findViewById(R.id.preview)).addView(preview);
buttonClick = (Button) findViewById(R.id.buttonClick);
buttonClick.setOnClickListener(new OnClickListener() {
public void onClick(View v) {
//preview.camera.startPreview();
preview.camera.takePicture(null, rawCallback,
jpegCallback);
}
});
Button back = (Button) findViewById(R.id.backbutton);
back.setOnClickListener(new View.OnClickListener() {
public void onClick(View view) {
Intent intent = new Intent();
setResult(Activity.RESULT_OK, intent);
finish();
}
});
Log.d(TAG, "onCreate'd");
}
public byte[] intToByteArray(int value) { //big endian
return new byte[] {
(byte)(value >>> 24),
(byte)(value >>> 16),
(byte)(value >>> 8),
(byte)value};
}
public byte[] intToByteArray2(int value) { //little endian
return new byte[] {
(byte)value,
(byte)(value >>> 8),
(byte)(value >>> 16),
(byte)(value >>> 24)
};
}
public void sendPhoto(byte[] photo, String textStr)
{
try {
s = new Socket("137.110.118.26",3412);// sessions
s.setTcpNoDelay(true);
OutputStream out = s.getOutputStream();
//BufferedOutputStream out = new BufferedOutputStream(o);
out.write(intToByteArray2(photo.length), 0, 4);
out.close();
Socket s2 = new Socket("137.110.118.26",3412);// sessions
s2.setTcpNoDelay(true);
OutputStream out2 = s2.getOutputStream();
out2.write(photo);
out2.close();
Context context = getApplicationContext();
Toast.makeText(context, textStr, Toast.LENGTH_SHORT).show();
Log.d(TAG,textStr);
} catch (UnknownHostException e) {
Context context = getApplicationContext();
Toast.makeText(context, "UnknownHostException!",
Toast.LENGTH_SHORT).show();
Log.d(TAG,"UnknownHostException!");
e.printStackTrace();
} catch (IOException e) {
Context context = getApplicationContext();
Toast.makeText(context, "IOException! "+e,
Toast.LENGTH_SHORT).show();
Log.d(TAG,"IOException! "+e);
e.printStackTrace();
}
}
ShutterCallback shutterCallback = new ShutterCallback() {
public void onShutter() {
Log.d(TAG, "onShutter'd");
}
};
/** Handles data for raw picture */
PictureCallback rawCallback = new PictureCallback() {
public void onPictureTaken(byte[] data, Camera camera) {
camera.startPreview();
if (data != null){
sendPhoto(data, "photosize:"+data.length);
}
Log.d(TAG, "onPictureTaken - raw");
}
};
/** Handles data for jpeg picture */
PictureCallback jpegCallback = new PictureCallback() {
public void onPictureTaken(byte[] data, Camera camera) {
if (data != null){
sendPhoto(data, "photosize:"+data.length);
Log.d(TAG, "onPictureTaken - jpeg,size:"+data.length);
}
}
};
public void onPause(){
//Close connection
try {
s.close();
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
Hardware + Emulator
Network
- server
#include <iostream>
#include "CVRSocket.h"
#include <jpeglib.h>
#include <jerror.h>
#include <jconfig.h>
#include <jmorecfg.h>
using namespace std;
using namespace cvr;
int main(){
while(true){
CVRSocket server1=CVRSocket(LISTEN, "137.110.118.26", 3412,AF_INET,SOCK_STREAM);
server1.setNoDelay(true);
server1.setReuseAddress(true);
server1.bind();
server1.listen();
server1.accept();
int photoSize=0;
bool received=server1.recv(&photoSize,sizeof(int));
printf("photoSize:%d\n",photoSize);
CVRSocket server=CVRSocket(LISTEN, "137.110.118.26", 3412,AF_INET,SOCK_STREAM);
server.setNoDelay(true);
server.setReuseAddress(true);
server.bind();
server.listen();
server.accept();
if (photoSize > 0 && photoSize < 10000000){
unsigned char * buf = (unsigned char *) malloc(sizeof(unsigned char)*photoSize);
bool received=server.recv(buf,photoSize);
if (received){
printf("success photo received\n");
}
else{
printf("error photo not received\n");
}
for (int i=0;i<100;i++){
cerr << buf[i] << ",";
//printf("%d,",buf[i]);
}
cerr << "\n";
FILE * pFile;
pFile = fopen ( "pic2.jpg" , "wb" );
fwrite (buf , 1 , photoSize , pFile );
fclose (pFile);
}
}
}
- client
- See android socket code above, and also camera send code
#include "CVRSocket.h"
#include <iostream>
using namespace cvr;
int main(){
CVRSocket client=CVRSocket(CONNECT, "137.110.118.26", 3412,AF_INET,SOCK_STREAM);
client.setNoDelay(true);
client.setReuseAddress(true);
client.connect();
int size=10;
client.send(&size,sizeof(int));
char * buf = (char *)malloc(sizeof(char)*size);
for (int i=0;i<size;i++){
buf[i]='a';
}
client.send(buf,size);
}
ARToolkit
Markers Code from Daniel
- detect marker
#include "Markers.h"
const char* Markers::hiroPatternName = "AR/patt.hiro";
const char* Markers::kanjiPatternName = "AR/patt.kanji";
const char* Markers::camParamName = "AR/camparams.dat";
Markers::Markers() : markersFound(0) {
ARParam wparam;
if (arParamLoad(camParamName, 1, &wparam) < 0) {
setError("Camera parameter load error!");
initialized = false;
return;
}
// Insert previously calibrated focal length and principal point data into
// the calibration matrix. Account for no lens distortion, since the
// reprojection error has been reported to be low for the RGB camera.
wparam.mat[0][0] = 594.21f;
wparam.mat[1][1] = 591.04f;
wparam.mat[0][2] = 339.5f;
wparam.mat[1][2] = 242.7f;
wparam.dist_factor[0] = 319;
wparam.dist_factor[1] = 239;
wparam.dist_factor[2] = 0;
wparam.dist_factor[3] = 1;
arInitCparam(&wparam);
if ((hiroPatternID = arLoadPatt(hiroPatternName)) < 0 ||
(kanjiPatternID = arLoadPatt(kanjiPatternName)) < 0) {
setError("AR Marker pattern load error!");
initialized = false;
return;
}
initialized = true;
}
bool Markers::findMarkers(ARUint8* videoFrame) {
static double markerCenter[2] = { 0, 0 };
static double markerWidthMM = 203; // 20.3 cm
static int thresh = 100;
foundMarkers = false;
ARMarkerInfo* markerInfo;
if (!initialized) {
setError("Marker detection failed to initialize");
return false;
}
if (arDetectMarker(videoFrame, thresh, &markerInfo, &markersFound) < 0) {
setError("Marker detection failed");
return false;
}
// Try to find a visible marker.
// cerr << markersFound << " markers found in the image" << endl;
int hiroMarker = -1;
int kanjiMarker = -1;
for(int curMarker = 0; curMarker < markersFound; ++curMarker) {
if (hiroPatternID == markerInfo[curMarker].id) {
if (hiroMarker == -1) {
hiroMarker = curMarker;
} else if (markerInfo[hiroMarker].cf < markerInfo[curMarker].cf) {
hiroMarker = curMarker;
}
}
if (kanjiPatternID == markerInfo[curMarker].id) {
if (kanjiMarker == -1) {
kanjiMarker = curMarker;
} else if (markerInfo[kanjiMarker].cf < markerInfo[curMarker].cf) {
kanjiMarker = curMarker;
}
}
}
if (hiroMarker != -1) {
usingMarker = hiroMarker;
} else if (kanjiMarker != -1) {
usingMarker = kanjiMarker;
} else {
setError("No visible markers found");
return false;
}
double markerTrans[3][4];
double invMarkerTrans[3][4];
arGetTransMat(&markerInfo[usingMarker], markerCenter,
markerWidthMM, markerTrans);
argConvGlpara(markerTrans, markerMatrix);
if (arUtilMatInv(markerTrans, invMarkerTrans) == 0) {
argConvGlpara(invMarkerTrans, invMarkerMatrix);
} else {
setError("Matrix inversion failed");
}
foundMarkers = true;
return true;
}
- pose
bool Markers::getCameraPose(float trans[3], float dir[3]) {
if (!initialized) {
setError("Marker detection failed to initialize");
return false;
} else if (!foundMarkers) {
setError("Failed to detect markers last frame");
return false;
}
trans[0] = invMarkerMatrix[12];
trans[1] = invMarkerMatrix[13];
trans[2] = invMarkerMatrix[14];
vec3<float> camDir;
const double origin[] = { 0, 0, 0 };
const double zfar[] = { 0, 0, -1000 };
double camOrigin[3], camZFar[3];
multMatrixVec<double>(invMarkerMatrix, origin, camOrigin);
multMatrixVec<double>(invMarkerMatrix, zfar, camZFar);
camDir.set(camOrigin[0] - camZFar[0],
camOrigin[1] - camZFar[1],
camOrigin[2] - camZFar[2]);
camDir.normalize();
dir[0] = camDir.x;
dir[1] = camDir.y;
dir[2] = camDir.z;
return true;
}
OpenCover
- display marker
- display dataset
Tips
- Tip: An easy way to add import packages to your project is to press Ctrl-Shift-O (Cmd-Shift-O, on Mac). This is an Eclipse shortcut that identifies missing packages based on your code and adds them for you.
- To get cpuinfo on a particular machine look in: /proc/cpuinfo
- To get ipaddress on a particular machine call /sbin/ifconfig
