boolean decodeJPEGAndAnalyze(Context context, CalibrationEntries calibrationEntries) {
boolean result = false;
BitmapFactory.Options opt = new BitmapFactory.Options();
opt.inPreferQualityOverSpeed = true;
BitmapRegionDecoder brd;
byte[] data = mData;
try {
brd = BitmapRegionDecoder.newInstance(data, 0, data.length, false);
Rect rect;
rect = new Rect(0, 0, brd.getWidth(), brd.getHeight());
Bitmap bitmap = brd.decodeRegion(rect, opt);
MatBitmapHolder mRgbaMatHolder = new MatBitmapHolder(bitmap);
Mat rgbaMat = mRgbaMatHolder.pin();
Mat grayData = new Mat();
Imgproc.cvtColor(rgbaMat, grayData, Imgproc.COLOR_RGB2GRAY, 1);
Mat centersCalibCircles = new Mat();
Size patternSize = CalibrationEntries.Pattern_ASYMMETRIC_CIRCLES_GRID_SIZE;
Size imageSize = new Size(grayData.cols(), grayData.rows());
boolean patternWasFound =
Calib3d.findCirclesGridDefault(
grayData, patternSize, centersCalibCircles, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
if (patternWasFound && this.orientation != null) {
int addedIdx = calibrationEntries.addEntry(this.orientation, centersCalibCircles);
if (addedIdx >= 0) {
Log.d(
"CALIB",
String.format(
"PictureCapture: Added calibration entry at %d tot: %d",
addedIdx, calibrationEntries.getNumEntries()));
if (calibrationEntries.getNewlyAdded() > 5) {
List<Mat> imagePoints = calibrationEntries.getPoints();
List<Mat> objectPoints =
calibrationEntries.getObjectPointsAsymmentricList(imagePoints.size());
if (CalibrationEntries.isEnoughCalibrationPoints(imagePoints.size())) {
calibrationEntries.resetNewlyAdded();
CameraCalibrationData cameraCalibrationData = new CameraCalibrationData();
List<Mat> rvecs = new Vector<Mat>(imagePoints.size());
List<Mat> tvecs = new Vector<Mat>(imagePoints.size());
int flags = 0;
flags |= Calib3d.CALIB_FIX_K4 | Calib3d.CALIB_FIX_K5;
Log.d("CALIB", String.format("PictureCapture: Calling Calib3d.calibrateCamera"));
Mat K = new Mat();
Mat kdist = new Mat();
double rms =
Calib3d.calibrateCamera(
objectPoints, imagePoints, imageSize, K, kdist, rvecs, tvecs, flags);
double[] Karray = new double[9];
double[] distcoeffs_array = new double[5];
K.get(0, 0, Karray);
kdist.get(0, 0, distcoeffs_array);
cameraCalibrationData.setData(
grayData.cols(), grayData.rows(), Karray, distcoeffs_array, rms);
Log.d(
"CALIB",
String.format(
"PictureCapture: Calibration data: %s",
cameraCalibrationData.formatCalibrationDataString()));
calibrationEntries.setCalibrationData(cameraCalibrationData);
result = true;
}
}
}
}
// mRightBitmap = brd.decodeRegion(rect, opt);
rect = new Rect(brd.getWidth() - brd.getWidth() / 3, 0, brd.getWidth(), brd.getHeight());
// mLeftBitmap = brd.decodeRegion(rect, opt);
mRgbaMatHolder.unpin(rgbaMat);
} catch (IOException e) {
XLog.e("Region decoder doesn't want to cooperate", e);
}
return result;
}
/**
* Analyze video frames using computer vision approach and generate a ArrayList<AttitudeRec>
*
* @param recs output ArrayList of AttitudeRec
* @return total number of frame of the video
*/
private int analyzeVideo(ArrayList<AttitudeRec> recs) {
VideoMetaInfo meta = new VideoMetaInfo(new File(mPath, "videometa.json"));
int decimation = 1;
if (meta.fps > DECIMATION_FPS_TARGET) {
decimation = (int) (meta.fps / DECIMATION_FPS_TARGET);
meta.fps /= decimation;
}
VideoDecoderForOpenCV videoDecoder =
new VideoDecoderForOpenCV(
new File(mPath, "video.mp4"), decimation); // every 3 frame process 1 frame
Mat frame;
Mat gray = new Mat();
int i = -1;
Size frameSize = videoDecoder.getSize();
if (frameSize.width != meta.frameWidth || frameSize.height != meta.frameHeight) {
// this is very unlikely
return -1;
}
if (TRACE_VIDEO_ANALYSIS) {
Debug.startMethodTracing("cvprocess");
}
Size patternSize = new Size(4, 11);
float fc = (float) (meta.frameWidth / 2.0 / Math.tan(meta.fovWidth / 2.0));
Mat camMat = cameraMatrix(fc, new Size(frameSize.width / 2, frameSize.height / 2));
MatOfDouble coeff = new MatOfDouble(); // dummy
MatOfPoint2f centers = new MatOfPoint2f();
MatOfPoint3f grid = asymmetricalCircleGrid(patternSize);
Mat rvec = new MatOfFloat();
Mat tvec = new MatOfFloat();
MatOfPoint2f reprojCenters = new MatOfPoint2f();
if (LOCAL_LOGV) {
Log.v(TAG, "Camera Mat = \n" + camMat.dump());
}
long startTime = System.nanoTime();
while ((frame = videoDecoder.getFrame()) != null) {
if (LOCAL_LOGV) {
Log.v(TAG, "got a frame " + i);
}
// has to be in front, as there are cases where execution
// will skip the later part of this while
i++;
// convert to gray manually as by default findCirclesGridDefault uses COLOR_BGR2GRAY
Imgproc.cvtColor(frame, gray, Imgproc.COLOR_RGB2GRAY);
boolean foundPattern =
Calib3d.findCirclesGridDefault(
gray, patternSize, centers, Calib3d.CALIB_CB_ASYMMETRIC_GRID);
if (!foundPattern) {
// skip to next frame
continue;
}
if (OUTPUT_DEBUG_IMAGE) {
Calib3d.drawChessboardCorners(frame, patternSize, centers, true);
}
// figure out the extrinsic parameters using real ground truth 3D points and the pixel
// position of blobs found in findCircleGrid, an estimated camera matrix and
// no-distortion are assumed.
boolean foundSolution =
Calib3d.solvePnP(grid, centers, camMat, coeff, rvec, tvec, false, Calib3d.CV_ITERATIVE);
if (!foundSolution) {
// skip to next frame
if (LOCAL_LOGV) {
Log.v(TAG, "cannot find pnp solution in frame " + i + ", skipped.");
}
continue;
}
// reproject points to for evaluation of result accuracy of solvePnP
Calib3d.projectPoints(grid, rvec, tvec, camMat, coeff, reprojCenters);
// error is evaluated in norm2, which is real error in pixel distance / sqrt(2)
double error = Core.norm(centers, reprojCenters, Core.NORM_L2);
if (LOCAL_LOGV) {
Log.v(TAG, "Found attitude, re-projection error = " + error);
}
// if error is reasonable, add it into the results
if (error < REPROJECTION_THREASHOLD) {
double[] rv = new double[3];
rvec.get(0, 0, rv);
recs.add(new AttitudeRec((double) i / meta.fps, rodr2rpy(rv)));
}
if (OUTPUT_DEBUG_IMAGE) {
Calib3d.drawChessboardCorners(frame, patternSize, reprojCenters, true);
Highgui.imwrite(
Environment.getExternalStorageDirectory().getPath()
+ "/RVCVRecData/DebugCV/img"
+ i
+ ".png",
frame);
}
}
if (LOCAL_LOGV) {
Log.v(TAG, "Finished decoding");
}
if (TRACE_VIDEO_ANALYSIS) {
Debug.stopMethodTracing();
}
if (LOCAL_LOGV) {
// time analysis
double totalTime = (System.nanoTime() - startTime) / 1e9;
Log.i(TAG, "Total time: " + totalTime + "s, Per frame time: " + totalTime / i);
}
return i;
}