samples/android/camera-calibration/src/org/opencv/samples/cameracalibration/CameraCalibrationActivity.java

   1 // This sample is based on "Camera calibration With OpenCV" tutorial:
   2 // http://docs.opencv.org/doc/tutorials/calib3d/camera_calibration/camera_calibration.html
   3 //
   4 // It uses standard OpenCV asymmetric circles grid pattern 11x4:
   5 // https://github.com/Itseez/opencv/blob/2.4/doc/acircles_pattern.png.
   6 // The results are the camera matrix and 5 distortion coefficients.
   7 //
   8 // Tap on highlighted pattern to capture pattern corners for calibration.
   9 // Move pattern along the whole screen and capture data.
  10 //
  11 // When you've captured necessary amount of pattern corners (usually ~20 are enough),
  12 // press "Calibrate" button for performing camera calibration.
  13
  14 package org.opencv.samples.cameracalibration;
  15
  16 import org.opencv.android.BaseLoaderCallback;
  17 import org.opencv.android.CameraBridgeViewBase;
  18 import org.opencv.android.CameraBridgeViewBase.CvCameraViewFrame;
  19 import org.opencv.android.CameraBridgeViewBase.CvCameraViewListener2;
  20 import org.opencv.android.LoaderCallbackInterface;
  21 import org.opencv.android.OpenCVLoader;
  22 import org.opencv.core.Mat;
  23
  24 import android.app.Activity;
  25 import android.app.ProgressDialog;
  26 import android.content.res.Resources;
  27 import android.os.AsyncTask;
  28 import android.os.Bundle;
  29 import android.util.Log;
  30 import android.view.Menu;
  31 import android.view.MenuItem;
  32 import android.view.MotionEvent;
  33 import android.view.SurfaceView;
  34 import android.view.View;
  35 import android.view.View.OnTouchListener;
  36 import android.view.WindowManager;
  37 import android.widget.Toast;
  38
  39 public class CameraCalibrationActivity extends Activity implements CvCameraViewListener2, OnTouchListener {
  40     private static final String TAG = "OCVSample::Activity";
  41
  42     private CameraBridgeViewBase mOpenCvCameraView;
  43     private CameraCalibrator mCalibrator;
  44     private OnCameraFrameRender mOnCameraFrameRender;
  45     private int mWidth;
  46     private int mHeight;
  47
  48     private BaseLoaderCallback mLoaderCallback = new BaseLoaderCallback(this) {
  49         @Override
  50         public void onManagerConnected(int status) {
  51             switch (status) {
  52             case LoaderCallbackInterface.SUCCESS:
  53             {
  54                 Log.i(TAG, "OpenCV loaded successfully");
  55                 mOpenCvCameraView.enableView();
  56                 mOpenCvCameraView.setOnTouchListener(CameraCalibrationActivity.this);
  57             } break;
  58             default:
  59             {
  60                 super.onManagerConnected(status);
  61             } break;
  62             }
  63         }
  64     };
  65
  66     public CameraCalibrationActivity() {
  67         Log.i(TAG, "Instantiated new " + this.getClass());
  68     }
  69
  70     @Override
  71     public void onCreate(Bundle savedInstanceState) {
  72         Log.i(TAG, "called onCreate");
  73         super.onCreate(savedInstanceState);
  74         getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
  75
  76         setContentView(R.layout.camera_calibration_surface_view);
  77
  78         mOpenCvCameraView = (CameraBridgeViewBase) findViewById(R.id.camera_calibration_java_surface_view);
  79         mOpenCvCameraView.setVisibility(SurfaceView.VISIBLE);
  80         mOpenCvCameraView.setCvCameraViewListener(this);
  81     }
  82
  83     @Override
  84     public void onPause()
  85     {
  86         super.onPause();
  87         if (mOpenCvCameraView != null)
  88             mOpenCvCameraView.disableView();
  89     }
  90
  91     @Override
  92     public void onResume()
  93     {
  94         super.onResume();
  95         OpenCVLoader.initAsync(OpenCVLoader.OPENCV_VERSION_2_4_2, this, mLoaderCallback);
  96     }
  97
  98     public void onDestroy() {
  99         super.onDestroy();
 100         if (mOpenCvCameraView != null)
 101             mOpenCvCameraView.disableView();
 102     }
 103
 104     @Override
 105     public boolean onCreateOptionsMenu(Menu menu) {
 106         super.onCreateOptionsMenu(menu);
 107         getMenuInflater().inflate(R.menu.calibration, menu);
 108
 109         return true;
 110     }
 111
 112     @Override
 113     public boolean onPrepareOptionsMenu (Menu menu) {
 114         super.onPrepareOptionsMenu(menu);
 115         menu.findItem(R.id.preview_mode).setEnabled(true);
 116         if (!mCalibrator.isCalibrated())
 117             menu.findItem(R.id.preview_mode).setEnabled(false);
 118
 119         return true;
 120     }
 121
 122     @Override
 123     public boolean onOptionsItemSelected(MenuItem item) {
 124         switch (item.getItemId()) {
 125         case R.id.calibration:
 126             mOnCameraFrameRender =
 127                 new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
 128             item.setChecked(true);
 129             return true;
 130         case R.id.undistortion:
 131             mOnCameraFrameRender =
 132                 new OnCameraFrameRender(new UndistortionFrameRender(mCalibrator));
 133             item.setChecked(true);
 134             return true;
 135         case R.id.comparison:
 136             mOnCameraFrameRender =
 137                 new OnCameraFrameRender(new ComparisonFrameRender(mCalibrator, mWidth, mHeight, getResources()));
 138             item.setChecked(true);
 139             return true;
 140         case R.id.calibrate:
 141             final Resources res = getResources();
 142             if (mCalibrator.getCornersBufferSize() < 2) {
 143                 (Toast.makeText(this, res.getString(R.string.more_samples), Toast.LENGTH_SHORT)).show();
 144                 return true;
 145             }
 146
 147             mOnCameraFrameRender = new OnCameraFrameRender(new PreviewFrameRender());
 148             new AsyncTask<Void, Void, Void>() {
 149                 private ProgressDialog calibrationProgress;
 150
 151                 @Override
 152                 protected void onPreExecute() {
 153                     calibrationProgress = new ProgressDialog(CameraCalibrationActivity.this);
 154                     calibrationProgress.setTitle(res.getString(R.string.calibrating));
 155                     calibrationProgress.setMessage(res.getString(R.string.please_wait));
 156                     calibrationProgress.setCancelable(false);
 157                     calibrationProgress.setIndeterminate(true);
 158                     calibrationProgress.show();
 159                 }
 160
 161                 @Override
 162                 protected Void doInBackground(Void... arg0) {
 163                     mCalibrator.calibrate();
 164                     return null;
 165                 }
 166
 167                 @Override
 168                 protected void onPostExecute(Void result) {
 169                     calibrationProgress.dismiss();
 170                     mCalibrator.clearCorners();
 171                     mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
 172                     String resultMessage = (mCalibrator.isCalibrated()) ?
 173                             res.getString(R.string.calibration_successful)  + " " + mCalibrator.getAvgReprojectionError() :
 174                             res.getString(R.string.calibration_unsuccessful);
 175                     (Toast.makeText(CameraCalibrationActivity.this, resultMessage, Toast.LENGTH_SHORT)).show();
 176
 177                     if (mCalibrator.isCalibrated()) {
 178                         CalibrationResult.save(CameraCalibrationActivity.this,
 179                                 mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients());
 180                     }
 181                 }
 182             }.execute();
 183             return true;
 184         default:
 185             return super.onOptionsItemSelected(item);
 186         }
 187     }
 188
 189     public void onCameraViewStarted(int width, int height) {
 190         if (mWidth != width || mHeight != height) {
 191             mWidth = width;
 192             mHeight = height;
 193             mCalibrator = new CameraCalibrator(mWidth, mHeight);
 194             if (CalibrationResult.tryLoad(this, mCalibrator.getCameraMatrix(), mCalibrator.getDistortionCoefficients())) {
 195                 mCalibrator.setCalibrated();
 196             }
 197
 198             mOnCameraFrameRender = new OnCameraFrameRender(new CalibrationFrameRender(mCalibrator));
 199         }
 200     }
 201
 202     public void onCameraViewStopped() {
 203     }
 204
 205     public Mat onCameraFrame(CvCameraViewFrame inputFrame) {
 206         return mOnCameraFrameRender.render(inputFrame);
 207     }
 208
 209     @Override
 210     public boolean onTouch(View v, MotionEvent event) {
 211         Log.d(TAG, "onTouch invoked");
 212
 213         mCalibrator.addCorners();
 214         return false;
 215     }
 216 }