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Fix #6: Add antialias, RGB8 support and other enhacements. #11

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Merged
merged 2 commits into from
Apr 14, 2015
Merged

Fix #6: Add antialias, RGB8 support and other enhacements. #11

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6f7e099
Fix #6: Add antialias, RGB8 support and other enhacements.
ojgarciab Apr 14, 2015
3e56d6c
Fix #6: Fixed little bug in output pixel order
ojgarciab Apr 14, 2015
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1 change: 1 addition & 0 deletions AndroidCameraViewer/res/layout/activity_main.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
android:id="@+id/imageView1"
android:layout_width="240dp"
android:layout_height="match_parent"
android:antialias="true"
android:layout_centerHorizontal="true" />


Expand Down
301 changes: 166 additions & 135 deletions AndroidCameraViewer/src/org/jderobot/androidcameraviewer/MainActivity.java
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ public class MainActivity extends Activity implements OnClickListener {
private RelativeLayout rel_layout;

/*Declare pointer to camera interface*/
private CameraPrx cprx;
private CameraPrx cprx = null;

/*String for port*/
private String port = "9999";
Expand Down Expand Up @@ -81,12 +81,11 @@ protected void onCreate(Bundle savedInstanceState) {
SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(this);
port = prefs.getString("Port Number", "9999");
protocol = prefs.getString("protocol", "tcp");
ipaddress = prefs.getString("ipkey", "0.0.0.0");
ipaddress = prefs.getString("ipkey", "192.168.1.10");
setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
//new CustomTask().execute((Void[])null);
try {
initializeCommunicator();

//Toast.makeText(getApplicationContext(), "Communicator initialized", Toast.LENGTH_LONG).show();
} catch (DataNotExistException e) {
// TODO Auto-generated catch block
Expand Down Expand Up @@ -134,58 +133,162 @@ private Void setaspectratio(){



private class DownloadFilesTask extends AsyncTask<CameraPrx, Bitmap, Long> {
protected Long doInBackground(jderobot.CameraPrx... urls) {
/* Execute this loop until button is clicked*/
while(true){
try {

jderobot.ImageData realdata;

/*Get the image data*/
realdata = cprx.getImageData();

/*Present image format is NV21 and it gives 240 x 160 size images*/
YuvImage img = new YuvImage(realdata.pixelData, ImageFormat.NV21, realdata.description.width, realdata.description.height, null);
ByteArrayOutputStream baoStream = new ByteArrayOutputStream();
img.compressToJpeg(new Rect(0, 0, realdata.description.width, realdata.description.height), 100, baoStream);


/*Convert image to Bitmap*/
Bitmap mBitmap = BitmapFactory.decodeByteArray(baoStream.toByteArray(),0,baoStream.size());
imagwidth = mBitmap.getWidth();

imagheight = mBitmap.getHeight();

publishProgress(mBitmap);
if(isCancelled())
break;

} catch (DataNotExistException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (HardwareFailedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (Exception e){
e.printStackTrace();
}
}

return (long) 1;
}


protected void onProgressUpdate(Bitmap... mBitmap) {
/*Set the ImageView to Bitmap on ProgressUpdate*/
imag.setImageBitmap(mBitmap[0]);
}

protected void onPostExecute(Long result) {
/*Do nothing*/
}
}

private class DownloadFilesTask extends AsyncTask<CameraPrx, Bitmap, Long> {
protected Long doInBackground(jderobot.CameraPrx... urls) {
jderobot.ImageData realdata;
/* Execute this loop until button is clicked */
while (true) {
try {
/* If proxy helper is not connected try to create it */
if (cprx == null) {
cprx = jderobot.CameraPrxHelper.uncheckedCast(base);
synchronized (this) {
_communicator = communicator;
if (_cb != null) {
_cb.onCreate(_communicator);
}
}
}

/* Get the image data */
realdata = cprx.getImageData();

/* Check if we have allocated enough space for RGBA output image */
int length = realdata.description.width * realdata.description.height;
if (imageRgba == null || imageRgba.length != length) {
imageRgba = new int[length];
}
/* Check supported image formats */
if (realdata.description.format.equals("NV21")) {
convertNv21ToRgba(realdata.pixelData, imageRgba, realdata.description.width,
realdata.description.height);
} else if (realdata.description.format.equals("RGB8")) {
convertRgbToRgba(realdata.pixelData, imageRgba, realdata.description.width,
realdata.description.height);
}
/* Create bitmap with RGBA image */
Bitmap mBitmap =
Bitmap.createBitmap(imageRgba, realdata.description.width,
realdata.description.height, Bitmap.Config.ARGB_8888);
imagwidth = mBitmap.getWidth();

imagheight = mBitmap.getHeight();

publishProgress(mBitmap);
if (isCancelled())
break;

} catch (Ice.TimeoutException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (DataNotExistException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (HardwareFailedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} catch (Exception e) {
e.printStackTrace();
try {
Thread.sleep(500);
} catch (InterruptedException e1) {
// TODO Auto-generated catch block
e1.printStackTrace();
}
}
}

return (long) 1;
}


protected void onProgressUpdate(Bitmap... mBitmap) {
/* Set the ImageView to Bitmap on ProgressUpdate */
imag.setImageBitmap(mBitmap[0]);
}

protected void onPostExecute(Long result) {
/* Do nothing */
}
}

// int Nv21ToRgba[][][] = new int[256][256][256];
int[] imageRgba = null;

/**
* Converts NV21 to RGBA (R + G + B + alpha)
*
* @param source NV21 image
* @param destination RGBA image
* @param width image width
* @param height image height
*/
public static void convertNv21ToRgba(byte[] source, int[] destination, int width, int height) {
int length = destination.length;
int u, v, y1, y2, y3, y4;

int i1 = 0, i2 = width, j1 = 0, j2 = width, k = length;
for (int y = 0; y < height; y += 2) {
Log.w("DEBUG LOOP", "i1=" + i1 + ", i2=" + i2 + ", j1=" + j1 + ", j2=" + j2 + ", k=" + k);
for (int x = 0; x < width; x += 2) {
y1 = source[i1++] & 0xff;
y2 = source[i1++] & 0xff;
y3 = source[i2++] & 0xff;
y4 = source[i2++] & 0xff;
u = source[k++] & 0xff;
v = source[k++] & 0xff;
u = u - 128;
v = v - 128;

destination[j1++] = convertYuvToRgb(y1, u, v);
destination[j1++] = convertYuvToRgb(y2, u, v);
destination[j2++] = convertYuvToRgb(y3, u, v);
destination[j2++] = convertYuvToRgb(y4, u, v);
}
i1 += width;
i2 += width;
j1 += width;
j2 += width;

}
}

/**
* Converts YUV pixel to RGBA with alpha opaque
*
* @param y Y component
* @param u U component
* @param v V component
* @return equivalent RGBA pixel opaque
*/
private static int convertYuvToRgb(int y, int u, int v) {
int r, g, b;

r = y + (int) 1.402f * v;
g = y - (int) (0.344f * u + 0.714f * v);
b = y + (int) 1.772f * u;
r = (r > 255) ? 255 : (r < 0) ? 0 : r;
g = (g > 255) ? 255 : (g < 0) ? 0 : g;
b = (b > 255) ? 255 : (b < 0) ? 0 : b;
return 0xff000000 | (b << 16) | (g << 8) | r;
}

/**
* Converts RGB (R + G + B) to RGBA (R + G + B + alpha)
*
* @param source RGB image
* @param destination RGBA image
* @param width image width
* @param height image height
*/
public static void convertRgbToRgba(byte[] source, int[] destination, int width, int height) {
int length = destination.length;

for (int i = 0, j = 0; i < length; i++, j += 3) {
destination[i] = 0xff000000 + source[j + 2] + (source[j + 1] << 8) + (source[j] << 16);
}
}

/* Implementation of ICE */
interface CommunicatorCallback {
void onWait();
Expand All @@ -197,97 +300,25 @@ interface CommunicatorCallback {

private Ice.Communicator _communicator;
private CommunicatorCallback _cb;

Ice.ObjectPrx base;
Ice.Communicator communicator;


private void initializeCommunicator() throws DataNotExistException, HardwareFailedException {
try {

NullFlag = "1";
/*Initialize Ice communicator*/
Ice.Communicator communicator;
communicator = Ice.Util.initialize();
communicator = Ice.Util.initialize();

/*Get the object proxy*/
Ice.ObjectPrx base = communicator.stringToProxy("cameraA:"+protocol+ " -h "+ipaddress+" -p " + port);
base = communicator.stringToProxy("cameraA:"+protocol+ " -h "+ipaddress+" -p " + port + " -t 1500");
//Toast.makeText(getApplicationContext(), base.toString(), Toast.LENGTH_LONG).show();

//Toast.makeText(getApplicationContext(), cprx.toString(), Toast.LENGTH_LONG).show();
cprx = jderobot.CameraPrxHelper.uncheckedCast(base);

jderobot.ImageData realdata = cprx.getImageData();

if(cprx.getImageData() != null){
/*This code is reached only when connection is established so set NullFlag to 0*/
NullFlag = "0";
}

//Toast.makeText(getApplicationContext(), realdata.toString(), Toast.LENGTH_LONG).show();
//jderobot.ImageData realdata = cprx.begin_getImageData();
//Toast.makeText(getApplicationContext(), realdata.description.format, Toast.LENGTH_LONG).show();

/*Convert NV21 image data to Jpeg*/
YuvImage img = new YuvImage(realdata.pixelData, ImageFormat.NV21, realdata.description.width, realdata.description.height, null);
ByteArrayOutputStream baoStream = new ByteArrayOutputStream();
img.compressToJpeg(new Rect(0, 0, realdata.description.width, realdata.description.height), 100, baoStream);
// byte[] yuv420sp = new byte[realdata.description.height * realdata.description.width*3/2];;
// int yIndex = 0;
// final int frameSize = realdata.description.height * realdata.description.width;
// int uvIndex = frameSize;
// int a, R, G, B, Y, U, V;
// int index = 0;
// for (int j = 0; j < realdata.description.height; j++) {
// for (int i = 0; i < realdata.description.width; i++) {
//
// a = (realdata.pixelData[index] & 0xff000000) >> 24; // a is not used obviously
// R = (realdata.pixelData[index] & 0xff0000) >> 16;
// G = (realdata.pixelData[index] & 0xff00) >> 8;
// B = (realdata.pixelData[index] & 0xff) >> 0;
//
// // well known RGB to YUV algorithm
// Y = ( ( 66 * R + 129 * G + 25 * B + 128) >> 8) + 16;
// U = ( ( -38 * R - 74 * G + 112 * B + 128) >> 8) + 128;
// V = ( ( 112 * R - 94 * G - 18 * B + 128) >> 8) + 128;
//
// // NV21 has a plane of Y and interleaved planes of VU each sampled by a factor of 2
// // meaning for every 4 Y pixels there are 1 V and 1 U. Note the sampling is every other
// // pixel AND every other scanline.
// yuv420sp[yIndex++] = (byte) ((Y < 0) ? 0 : ((Y > 255) ? 255 : Y));
// if (j % 2 == 0 && index % 2 == 0) {
// yuv420sp[uvIndex++] = (byte)((V<0) ? 0 : ((V > 255) ? 255 : V));
// yuv420sp[uvIndex++] = (byte)((U<0) ? 0 : ((U > 255) ? 255 : U));
// }
//
// index ++;
// }
// }
// YuvImage img = new YuvImage(yuv420sp, ImageFormat.NV21, realdata.description.width, realdata.description.height, null);
// ByteArrayOutputStream baoStream = new ByteArrayOutputStream();
// img.compressToJpeg(new Rect(0, 0, realdata.description.width, realdata.description.height), 100, baoStream);
// /*Convert Jpeg to Bitmap*/
// Bitmap mBitmap = BitmapFactory.decodeByteArray(baoStream.toByteArray(),0,baoStream.size());

//
//
/*Convert image to Bitmap*/
Bitmap mBitmap = BitmapFactory.decodeByteArray(baoStream.toByteArray(),0,baoStream.size());

//Bitmap mBitmap = BitmapFactory.decodeByteArray(realdata.pixelData,0,realdata.pixelData.length);
//Toast.makeText(getApplicationContext(), mBitmap.toString(), Toast.LENGTH_LONG).show();

/* Get the Height and Width of the Bitmap Image*/
imagwidth = mBitmap.getWidth();
imagheight = mBitmap.getHeight();
//Log.e("aaa", imagwidth+" " + imagheight + " " + realdata.description.height);
/*Set Bitmap image*/
imag.setImageBitmap(mBitmap);

synchronized (this) {
_communicator = communicator;
if (_cb != null) {
_cb.onCreate(_communicator);
}
}
NullFlag = "0";
} catch (Ice.LocalException ex) {
Log.e("ICE", "Error ICE");
synchronized (this) {
if (_cb != null) {
_cb.onError(ex);
Expand All @@ -302,7 +333,7 @@ public void onStop() {

public void onPause() {
super.onPause();
runner.cancel(true);
}
@Override
public boolean onCreateOptionsMenu(Menu menu) {
Expand Down