Difference between revisions of "Android Controller"
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==Android Controller== | ==Android Controller== | ||
+ | [[Image:camera.jpg]] | ||
Jeanne Wang | Jeanne Wang | ||
==Objective== | ==Objective== | ||
− | Create an intuitive and novel approach to a tablet based multi-touch and sensor-enabled controller for a real-time 3D visualization | + | 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. | ||
---- | ---- | ||
+ | Spring 2011: | ||
+ | * Created basic android application that has some ui components, and controls for them | ||
+ | * Added networking capabilities between a server (running in a thread in OpenCover) and a client (running on custom camera activity in Android) | ||
+ | * Am looking into getting camera pose information using ARToolkit | ||
+ | * Will then use camera pose information to create a virtual camera from that orientation | ||
====Android Basics:==== | ====Android Basics:==== | ||
Line 15: | Line 22: | ||
**View - XML | **View - XML | ||
**Controller - Activity, or Service | **Controller - Activity, or Service | ||
− | * | + | *UI Views |
− | * | + | [[Image:mainUI.png]] |
+ | |||
+ | <pre> | ||
+ | <?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> | ||
+ | </pre> | ||
+ | * UI Control Component | ||
+ | **Buttons | ||
+ | <pre> | ||
+ | Button button = (Button)findViewById(R.id.button1); | ||
+ | button.setOnClickListener(buttonOnClick); | ||
+ | </pre> | ||
+ | **Sliders | ||
+ | <pre> | ||
+ | SeekBar seekbar=(SeekBar)findViewById(R.id.seekBar1); | ||
+ | seekbar.setOnSeekBarChangeListener(sbar); | ||
+ | </pre> | ||
+ | **TextView | ||
+ | <pre> | ||
+ | TextView seekbartxt=(TextView)findViewById(R.id.seekBarText); | ||
+ | CharSequence t="slider progress:"+progress; | ||
+ | seekbartxt.setText(t); | ||
+ | </pre> | ||
+ | **EditText | ||
+ | ***In Android manifest make sure to enable soft keyboard | ||
+ | <pre><activity android:name=".TypeText" | ||
+ | android:windowSoftInputMode="stateAlwaysVisible|adjustResize"> | ||
+ | </activity> | ||
+ | </pre> | ||
+ | <pre> | ||
+ | EditText edtView=(EditText)findViewById(R.id.EditText01); | ||
+ | edtView.setInputType(InputType.TYPE_CLASS_TEXT); | ||
+ | </pre> | ||
+ | **Toasts (timed popups) | ||
+ | <pre> | ||
+ | int duration = Toast.LENGTH_SHORT; | ||
+ | View v; | ||
+ | CharSequence text = "button "+v.getId()+" pressed"; | ||
+ | Toast t=Toast.makeText(v.getContext(),text, duration); | ||
+ | t.show(); | ||
+ | </pre> | ||
+ | * Listeners | ||
+ | **OnClickListener | ||
+ | <pre> | ||
+ | private OnClickListener showCamera = new OnClickListener() { | ||
+ | public void onClick(View v) { | ||
+ | //do stuff here | ||
+ | } | ||
+ | </pre> | ||
+ | **OnSeekBarChangeListener | ||
+ | <pre> | ||
+ | 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) { | ||
+ | } | ||
+ | }; | ||
+ | </pre> | ||
+ | **OnTouchListener | ||
+ | <pre> | ||
+ | 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; | ||
+ | |||
+ | } | ||
+ | }); | ||
+ | </pre> | ||
+ | |||
+ | * Start New Intent | ||
+ | <pre> | ||
+ | Intent myIntent = new Intent(v.getContext(), TouchScreen.class); | ||
+ | startActivityForResult(myIntent, 0); | ||
+ | </pre> | ||
+ | |||
+ | *Sockets | ||
+ | **In Android Manifest be sure to enable internet usage | ||
+ | <pre> | ||
+ | <uses-permission android:name="android.permission.INTERNET" /> | ||
+ | </pre> | ||
+ | <pre> | ||
+ | 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(); | ||
+ | } | ||
+ | } | ||
+ | </pre> | ||
+ | **Using sockets to get IP Address | ||
+ | <pre> | ||
+ | Socket s = new Socket("137.110.115.194",11011); // HP laptop | ||
+ | String myIPAddress = s.getLocalAddress().toString(); | ||
+ | </pre> | ||
+ | |||
+ | * Camera | ||
+ | **In Android manifest be sure to include camera capabilities | ||
+ | <pre> | ||
+ | <uses-permission android:name="android.permission.CAMERA" /> | ||
+ | <uses-feature android:name="android.hardware.camera" /> | ||
+ | <uses-feature android:name="android.hardware.camera.autofocus" /> | ||
+ | </pre> | ||
+ | **Default Camera | ||
+ | <pre> | ||
+ | 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); | ||
+ | } | ||
+ | } | ||
+ | </pre> | ||
+ | **Custom Camera | ||
+ | <pre> | ||
+ | |||
+ | 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(); | ||
+ | } | ||
+ | } | ||
+ | |||
+ | } | ||
+ | </pre> | ||
====Hardware + Emulator==== | ====Hardware + Emulator==== | ||
Line 25: | Line 498: | ||
====Network==== | ====Network==== | ||
* server | * server | ||
+ | <pre> | ||
+ | #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); | ||
+ | } | ||
+ | } | ||
+ | } | ||
+ | </pre> | ||
+ | |||
* client | * client | ||
+ | **See android socket code above, and also camera send code | ||
+ | <pre> | ||
+ | #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); | ||
+ | |||
+ | |||
+ | } | ||
+ | </pre> | ||
====ARToolkit==== | ====ARToolkit==== | ||
+ | *ARToolkit [http://www.hitl.washington.edu/artoolkit/] | ||
+ | *There is also a java port [http://code.google.com/p/andar/] | ||
+ | |||
+ | Markers Code from Daniel Tenedorio | ||
* detect marker | * detect marker | ||
+ | <pre> | ||
+ | #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; | ||
+ | } | ||
+ | </pre> | ||
* pose | * pose | ||
+ | <pre> | ||
+ | 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; | ||
+ | } | ||
− | + | ||
− | + | </pre> | |
====OpenCover==== | ====OpenCover==== | ||
*display marker | *display marker | ||
+ | <pre> | ||
+ | char * filename = "/home/covise/covise/src/renderer/OpenCOVER/plugins/calit2/Boom/HiroPattern.png"; | ||
+ | |||
+ | Geode* artmarker = createImageGeode(filename); | ||
+ | MatrixTransform* rotation = new MatrixTransform(); | ||
+ | MatrixTransform* trans = new MatrixTransform(); | ||
+ | Matrixd m1,m3; | ||
+ | m1.makeRotate(3.14/2,1,0,0); | ||
+ | rotation->setMatrix(m1); | ||
+ | m3.makeTranslate(0,100-drawCounter,0); | ||
+ | trans->setMatrix(m3); | ||
+ | trans->addChild(rotation); | ||
+ | rotation->addChild(artmarker); | ||
+ | //cover->getScene()->addChild(trans); //makes it unmovable | ||
+ | cover->getObjectsRoot()->addChild(trans); | ||
+ | |||
+ | /** Loads image file into geode; returns NULL if image file cannot be loaded */ | ||
+ | Geode* Boom::createImageGeode(const char* filename) | ||
+ | { | ||
+ | // Create OSG image: | ||
+ | Image* image;// = new Image(); | ||
+ | image = osgDB::readImageFile(filename); | ||
+ | Texture2D * imageTexture; | ||
+ | |||
+ | // Create OSG texture: | ||
+ | if (image) | ||
+ | { | ||
+ | cerr << "Image loaded\n"; | ||
+ | imageTexture = new Texture2D(); | ||
+ | imageTexture->setImage(image); | ||
+ | } | ||
+ | else | ||
+ | { | ||
+ | std::cerr << "Cannot load image file " << filename << std::endl; | ||
+ | //delete image; | ||
+ | return NULL; | ||
+ | } | ||
+ | |||
+ | // Create OSG geode: | ||
+ | Geode* imageGeode = (Geode *) new Geode(); | ||
+ | imageGeode->addDrawable(createImageGeometry(imageTexture)); | ||
+ | return imageGeode; | ||
+ | } | ||
+ | /** Used by createImageGeode() */ | ||
+ | Geometry* Boom::createImageGeometry(Texture2D* imageTexture) | ||
+ | { | ||
+ | const float WIDTH = 300.0f; | ||
+ | const float HEIGHT = 200.0f; | ||
+ | Geometry* geom = new Geometry(); | ||
+ | |||
+ | // Create vertices: | ||
+ | Vec3Array* vertices = new Vec3Array(4); | ||
+ | (*vertices)[0].set(-WIDTH / 2.0, -HEIGHT / 2.0, 0); // bottom left | ||
+ | (*vertices)[1].set( WIDTH / 2.0, -HEIGHT / 2.0, 0); // bottom right | ||
+ | (*vertices)[2].set( WIDTH / 2.0, HEIGHT / 2.0, 0); // top right | ||
+ | (*vertices)[3].set(-WIDTH / 2.0, HEIGHT / 2.0, 0); // top left | ||
+ | geom->setVertexArray(vertices); | ||
+ | |||
+ | // Create texture coordinates for image texture: | ||
+ | Vec2Array* texcoords = new Vec2Array(4); | ||
+ | (*texcoords)[0].set(0.0, 0.0); | ||
+ | (*texcoords)[1].set(1.0, 0.0); | ||
+ | (*texcoords)[2].set(1.0, 1.0); | ||
+ | (*texcoords)[3].set(0.0, 1.0); | ||
+ | geom->setTexCoordArray(0,texcoords); | ||
+ | |||
+ | // Create normals: | ||
+ | Vec3Array* normals = new Vec3Array(1); | ||
+ | (*normals)[0].set(0.0f, 0.0f, 1.0f); | ||
+ | geom->setNormalArray(normals); | ||
+ | geom->setNormalBinding(Geometry::BIND_OVERALL); | ||
+ | |||
+ | // Create colors: | ||
+ | Vec4Array* colors = new Vec4Array(1); | ||
+ | (*colors)[0].set(1.0, 1.0, 1.0, 1.0); | ||
+ | geom->setColorArray(colors); | ||
+ | geom->setColorBinding(Geometry::BIND_OVERALL); | ||
+ | |||
+ | geom->addPrimitiveSet(new DrawArrays(PrimitiveSet::QUADS, 0, 4)); | ||
+ | |||
+ | Vec4 color(1.0,0.0,0.0,1.0); | ||
+ | // Set texture parameters: | ||
+ | StateSet* stateset = geom->getOrCreateStateSet(); | ||
+ | stateset->setMode(GL_LIGHTING, StateAttribute::OFF); // make texture visible independent of lighting | ||
+ | //stateset->setRenderingHint(StateSet::TRANSPARENT_BIN); // only required for translucent images | ||
+ | stateset->setTextureAttributeAndModes(0, imageTexture, StateAttribute::ON); | ||
+ | Material* mat = new Material(); | ||
+ | mat->setColorMode(Material::AMBIENT_AND_DIFFUSE); | ||
+ | mat->setDiffuse(Material::FRONT,color); | ||
+ | mat->setSpecular(Material::FRONT,color); | ||
+ | stateset->setAttribute(mat); | ||
+ | stateset->setAttributeAndModes(mat, StateAttribute::ON); | ||
+ | |||
+ | cerr << "Geometry set\n"; | ||
+ | return geom; | ||
+ | } | ||
+ | |||
+ | </pre> | ||
+ | |||
*display dataset | *display dataset | ||
+ | <pre> | ||
+ | char * modelfile = "/home/jeanne/data/pdb/4HHBcart.wrl"; | ||
+ | Node* model = createModelGeode(modelfile); | ||
+ | MatrixTransform* scale = new MatrixTransform(); | ||
+ | Matrixd m2; | ||
+ | m2=scale->getMatrix(); | ||
+ | m2.makeScale(2,2,2); | ||
+ | scale->setMatrix(m2); | ||
+ | scale->addChild(model); | ||
+ | cover->getObjectsRoot()->addChild(scale); | ||
+ | |||
+ | /** Loads a VRML model into geode; returns NULL if image file cannot be loaded */ | ||
+ | Node* Boom::createModelGeode(const char* filename) | ||
+ | { | ||
+ | osg::Node* modelNode = osgDB::readNodeFile(filename); | ||
+ | if(modelNode==NULL) | ||
+ | { | ||
+ | cerr << "Boom: Error reading file " << filename << endl; | ||
+ | return NULL; | ||
+ | } | ||
+ | else | ||
+ | { | ||
+ | return modelNode; | ||
+ | } | ||
+ | } | ||
+ | |||
+ | </pre> | ||
+ | |||
+ | ====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 | ||
====Other possibilities==== | ====Other possibilities==== |
Latest revision as of 21:38, 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.
Spring 2011:
- Created basic android application that has some ui components, and controls for them
- Added networking capabilities between a server (running in a thread in OpenCover) and a client (running on custom camera activity in Android)
- Am looking into getting camera pose information using ARToolkit
- Will then use camera pose information to create a virtual camera from that orientation
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 Tenedorio
- 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
char * filename = "/home/covise/covise/src/renderer/OpenCOVER/plugins/calit2/Boom/HiroPattern.png"; Geode* artmarker = createImageGeode(filename); MatrixTransform* rotation = new MatrixTransform(); MatrixTransform* trans = new MatrixTransform(); Matrixd m1,m3; m1.makeRotate(3.14/2,1,0,0); rotation->setMatrix(m1); m3.makeTranslate(0,100-drawCounter,0); trans->setMatrix(m3); trans->addChild(rotation); rotation->addChild(artmarker); //cover->getScene()->addChild(trans); //makes it unmovable cover->getObjectsRoot()->addChild(trans); /** Loads image file into geode; returns NULL if image file cannot be loaded */ Geode* Boom::createImageGeode(const char* filename) { // Create OSG image: Image* image;// = new Image(); image = osgDB::readImageFile(filename); Texture2D * imageTexture; // Create OSG texture: if (image) { cerr << "Image loaded\n"; imageTexture = new Texture2D(); imageTexture->setImage(image); } else { std::cerr << "Cannot load image file " << filename << std::endl; //delete image; return NULL; } // Create OSG geode: Geode* imageGeode = (Geode *) new Geode(); imageGeode->addDrawable(createImageGeometry(imageTexture)); return imageGeode; } /** Used by createImageGeode() */ Geometry* Boom::createImageGeometry(Texture2D* imageTexture) { const float WIDTH = 300.0f; const float HEIGHT = 200.0f; Geometry* geom = new Geometry(); // Create vertices: Vec3Array* vertices = new Vec3Array(4); (*vertices)[0].set(-WIDTH / 2.0, -HEIGHT / 2.0, 0); // bottom left (*vertices)[1].set( WIDTH / 2.0, -HEIGHT / 2.0, 0); // bottom right (*vertices)[2].set( WIDTH / 2.0, HEIGHT / 2.0, 0); // top right (*vertices)[3].set(-WIDTH / 2.0, HEIGHT / 2.0, 0); // top left geom->setVertexArray(vertices); // Create texture coordinates for image texture: Vec2Array* texcoords = new Vec2Array(4); (*texcoords)[0].set(0.0, 0.0); (*texcoords)[1].set(1.0, 0.0); (*texcoords)[2].set(1.0, 1.0); (*texcoords)[3].set(0.0, 1.0); geom->setTexCoordArray(0,texcoords); // Create normals: Vec3Array* normals = new Vec3Array(1); (*normals)[0].set(0.0f, 0.0f, 1.0f); geom->setNormalArray(normals); geom->setNormalBinding(Geometry::BIND_OVERALL); // Create colors: Vec4Array* colors = new Vec4Array(1); (*colors)[0].set(1.0, 1.0, 1.0, 1.0); geom->setColorArray(colors); geom->setColorBinding(Geometry::BIND_OVERALL); geom->addPrimitiveSet(new DrawArrays(PrimitiveSet::QUADS, 0, 4)); Vec4 color(1.0,0.0,0.0,1.0); // Set texture parameters: StateSet* stateset = geom->getOrCreateStateSet(); stateset->setMode(GL_LIGHTING, StateAttribute::OFF); // make texture visible independent of lighting //stateset->setRenderingHint(StateSet::TRANSPARENT_BIN); // only required for translucent images stateset->setTextureAttributeAndModes(0, imageTexture, StateAttribute::ON); Material* mat = new Material(); mat->setColorMode(Material::AMBIENT_AND_DIFFUSE); mat->setDiffuse(Material::FRONT,color); mat->setSpecular(Material::FRONT,color); stateset->setAttribute(mat); stateset->setAttributeAndModes(mat, StateAttribute::ON); cerr << "Geometry set\n"; return geom; }
- display dataset
char * modelfile = "/home/jeanne/data/pdb/4HHBcart.wrl"; Node* model = createModelGeode(modelfile); MatrixTransform* scale = new MatrixTransform(); Matrixd m2; m2=scale->getMatrix(); m2.makeScale(2,2,2); scale->setMatrix(m2); scale->addChild(model); cover->getObjectsRoot()->addChild(scale); /** Loads a VRML model into geode; returns NULL if image file cannot be loaded */ Node* Boom::createModelGeode(const char* filename) { osg::Node* modelNode = osgDB::readNodeFile(filename); if(modelNode==NULL) { cerr << "Boom: Error reading file " << filename << endl; return NULL; } else { return modelNode; } }
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