diff --git a/code/AutoFitTextureView.java b/code/AutoFitTextureView.java index 8f782a3..f1a76f3 100644 --- a/code/AutoFitTextureView.java +++ b/code/AutoFitTextureView.java @@ -1,10 +1,9 @@ -package com.yeyupiaoling.teststadiometry; +package com.example.otherclass; import android.content.Context; import android.util.AttributeSet; import android.view.TextureView; - public class AutoFitTextureView extends TextureView { private int mRatioWidth = 0; @@ -45,4 +44,7 @@ public class AutoFitTextureView extends TextureView { setMeasuredDimension(mRatioWidth, mRatioHeight); } + public void setAspectRatio(float height, float width) { + } } + diff --git a/code/CameraActivity.java b/code/CameraActivity.java index 9396cbb..301efce 100644 --- a/code/CameraActivity.java +++ b/code/CameraActivity.java @@ -1,11 +1,13 @@ -package com.yeyupiaoling.teststadiometry; +package com.example.smartglasses; import androidx.annotation.NonNull; +import androidx.annotation.RequiresApi; import androidx.appcompat.app.AppCompatActivity; import android.Manifest; import android.annotation.SuppressLint; import android.content.Context; +import android.content.Intent; import android.content.pm.PackageManager; import android.graphics.Bitmap; import android.graphics.ImageFormat; @@ -25,6 +27,7 @@ import android.os.Build; import android.os.Bundle; import android.os.Handler; import android.os.HandlerThread; +import android.provider.MediaStore; import android.util.Log; import android.util.Size; import android.view.Surface; @@ -35,11 +38,16 @@ import android.widget.ImageView; import android.widget.LinearLayout; import android.widget.TextView; +import com.example.otherclass.AutoFitTextureView; +import com.example.otherclass.StereoBMUtil; +import com.example.otherclass.Utils; + import org.opencv.android.OpenCVLoader; import java.util.Arrays; import java.util.List; +@RequiresApi(api = Build.VERSION_CODES.LOLLIPOP) public class CameraActivity extends AppCompatActivity { private static final String TAG = CameraActivity.class.getSimpleName(); private CameraCaptureSession mCaptureSession; @@ -69,7 +77,9 @@ public class CameraActivity extends AppCompatActivity { @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); + Log.d("Test", "未引入.xml "); setContentView(R.layout.activity_camera); + Log.d("Test", "进入C活动成功 "); // 权限申请 if (!hasPermission()) { @@ -77,7 +87,7 @@ public class CameraActivity extends AppCompatActivity { } //初始化 if (OpenCVLoader.initDebug()) { - Log.d(TAG, "OpenCVLoader初始化成功"); + Log.d("Test", "OpenCVLoader初始化成功"); } stereoBMUtil = new StereoBMUtil(); @@ -95,6 +105,7 @@ public class CameraActivity extends AppCompatActivity { // 拍照获取左右摄像头的图像 button2.setOnClickListener(v -> { + Log.d("Test", "点击打开摄像头 "); bgView.setVisibility(View.VISIBLE); ll.setVisibility(View.VISIBLE); Bitmap imgBitmap = mTextureView.getBitmap(); @@ -103,6 +114,7 @@ public class CameraActivity extends AppCompatActivity { // 左右目摄像头的图像 leftBitmap = bitmapList.get(0); rightBitmap = bitmapList.get(1); + Log.d("Test", "getbitmap成功 "); imageViewLeft.setImageBitmap(leftBitmap); imageViewRight.setImageBitmap(rightBitmap); diff --git a/code/CameraFragment.java b/code/CameraFragment.java new file mode 100644 index 0000000..2927073 --- /dev/null +++ b/code/CameraFragment.java @@ -0,0 +1,428 @@ +package com.example.fragment; + +import android.Manifest; +import android.annotation.SuppressLint; +import android.content.Context; +import android.content.pm.PackageManager; +import android.graphics.Bitmap; +import android.graphics.ImageFormat; +import android.graphics.Matrix; +import android.graphics.SurfaceTexture; +import android.hardware.camera2.CameraAccessException; +import android.hardware.camera2.CameraCaptureSession; +import android.hardware.camera2.CameraCharacteristics; +import android.hardware.camera2.CameraDevice; +import android.hardware.camera2.CameraManager; +import android.hardware.camera2.CaptureFailure; +import android.hardware.camera2.CaptureRequest; +import android.hardware.camera2.CaptureResult; +import android.hardware.camera2.params.StreamConfigurationMap; +import android.media.ImageReader; +import android.os.Build; +import android.os.Bundle; + +import androidx.annotation.NonNull; +import androidx.annotation.RequiresApi; +import androidx.fragment.app.Fragment; + +import android.os.Handler; +import android.os.HandlerThread; +import android.util.Log; +import android.util.Size; +import android.view.LayoutInflater; +import android.view.Surface; +import android.view.TextureView; +import android.view.View; +import android.view.ViewGroup; +import android.widget.Button; +import android.widget.ImageView; +import android.widget.LinearLayout; +import android.widget.TextView; + +import com.example.smartglasses.R; +import com.example.otherclass.AutoFitTextureView; +import com.example.otherclass.StereoBMUtil; +import com.example.otherclass.Utils; +import com.example.otherclass.AutoFitTextureView; + +import org.opencv.android.OpenCVLoader; + +import java.util.Arrays; +import java.util.List; + + +@RequiresApi(api = Build.VERSION_CODES.LOLLIPOP) +public class CameraFragment extends Fragment { + + private CameraCaptureSession mCaptureSession; + private CameraDevice mCameraDevice; + + private HandlerThread mCaptureThread; + private Handler mCaptureHandler; + + private ImageReader mImageReader; + private boolean isFont = false; + private Size mPreviewSize; + private boolean mCapturing; + + private AutoFitTextureView mTextureView; + private ImageView imageViewLeft; + private ImageView imageViewRight; + private ImageView imageViewResult; + private int sensorOrientation = 0; + private View bgView; + private LinearLayout ll; + private TextView textView; + private StereoBMUtil stereoBMUtil; + private Bitmap leftBitmap; + private Bitmap rightBitmap; + + + + public CameraFragment() { + // Required empty public constructor + } + + + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + + } + @SuppressLint("ClickableViewAccessibility") + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + View view=inflater.inflate(R.layout.fragment_camera, container, false); + // 权限申请 + if (!hasPermission()) { + requestPermission(); + } + //初始化 + if (OpenCVLoader.initDebug()) { + Log.d("Test", "OpenCVLoader初始化成功"); + } + + stereoBMUtil = new StereoBMUtil(); + mTextureView = view.findViewById(R.id.texture_view); + imageViewLeft = view.findViewById(R.id.imageViewLeft); + imageViewRight = view.findViewById(R.id.imageViewRight); + imageViewResult = view.findViewById(R.id.imageViewResult); + bgView = view.findViewById(R.id.bg_view); + ll = view.findViewById(R.id.show_ll); + textView = view.findViewById(R.id.result_tv); + + Button button2 = view.findViewById(R.id.button2); + Button button3 = view.findViewById(R.id.button3); + Button button4 = view.findViewById(R.id.button4); + + // 拍照获取左右摄像头的图像 + button2.setOnClickListener(v -> { + Log.d("Test", "点击打开摄像头 "); + bgView.setVisibility(View.VISIBLE); + ll.setVisibility(View.VISIBLE); + Bitmap imgBitmap = mTextureView.getBitmap(); + Log.d("Test", "getBitmap()v "); + Bitmap b = Utils.rotateBitmap(imgBitmap, 360 - sensorOrientation); + Log.d("Test", " rotateBitmap"); + List bitmapList = Utils.bisectionBitmap(b); + // 左右目摄像头的图像 + leftBitmap = bitmapList.get(0); + rightBitmap = bitmapList.get(1); + Log.d("Test", "getbitmap成功 "); + imageViewLeft.setImageBitmap(leftBitmap); + imageViewRight.setImageBitmap(rightBitmap); + + }); + + // 显示相机预览 + button3.setOnClickListener(v -> { + bgView.setVisibility(View.GONE); + ll.setVisibility(View.GONE); + }); + + // 执行StereoBM算法 + button4.setOnClickListener(v -> { + Bitmap result = stereoBMUtil.compute(leftBitmap, rightBitmap); + imageViewResult.setImageBitmap(result); + }); + + // 点击计算后的图片，获取三维坐标数据 + imageViewResult.setOnTouchListener((v, event) -> { + // 获取触摸点的坐标 x, y + float x = event.getX(); + float y = event.getY(); + float[] dst = new float[2]; + Matrix imageMatrix = imageViewResult.getImageMatrix(); + Matrix inverseMatrix = new Matrix(); + imageMatrix.invert(inverseMatrix); + inverseMatrix.mapPoints(dst, new float[]{x, y}); + int dstX = (int) dst[0]; + int dstY = (int) dst[1]; + // 获取该点的三维坐标 + double[] c = stereoBMUtil.getCoordinate(dstX, dstY); + String s = String.format("点(%d, %d) 三维坐标：[%.2f, %.2f, %.2f]", dstX, dstY, c[0], c[1], c[2]); + Log.d("TAG", s); + textView.setText(s); + return true; + }); + + return view; + } + // 初始化以下变量和状态 + private void initStatus() { + // 启动线程 + startCaptureThread(); + + // 判断SurfaceTexture是否可用，可用就直接启动捕获图片 + if (mTextureView.isAvailable()) { + startCapture(); + } else { + mTextureView.setSurfaceTextureListener(new TextureView.SurfaceTextureListener() { + @Override + public void onSurfaceTextureAvailable(SurfaceTexture surface, int width, int height) { + startCapture(); + } + + @Override + public void onSurfaceTextureSizeChanged(SurfaceTexture surface, int width, int height) { + } + + @Override + public boolean onSurfaceTextureDestroyed(SurfaceTexture surface) { + return true; + } + + @Override + public void onSurfaceTextureUpdated(SurfaceTexture surface) { + } + }); + } + } + + // 启动捕获图片 + @RequiresApi(api = Build.VERSION_CODES.LOLLIPOP) + private void startCapture() { + // 判断是否正处于捕获图片的状态 + if (mCapturing) return; + mCapturing = true; + +// final CameraManager manager = (CameraManager) getContext().getSystemService(Context.CAMERA_SERVICE); + final CameraManager manager = (CameraManager) getActivity().getSystemService(Context.CAMERA_SERVICE); + String cameraIdAvailable = null; + try { + assert manager != null; + for (final String cameraId : manager.getCameraIdList()) { + final CameraCharacteristics characteristics = manager.getCameraCharacteristics(cameraId); + + final Integer facing = characteristics.get(CameraCharacteristics.LENS_FACING); + // 设置相机前摄像头或者后摄像头 + if (isFont) { + if (facing != null && facing == CameraCharacteristics.LENS_FACING_FRONT) { + cameraIdAvailable = cameraId; + break; + } + } else { + if (facing != null && facing == CameraCharacteristics.LENS_FACING_BACK) { + cameraIdAvailable = cameraId; + break; + } + } + } + } catch (CameraAccessException e) { + Log.e("TAG", "启动图片捕获异常 ", e); + } + + try { + assert cameraIdAvailable != null; + final CameraCharacteristics characteristics = + manager.getCameraCharacteristics(cameraIdAvailable); + + final StreamConfigurationMap map = + characteristics.get(CameraCharacteristics.SCALER_STREAM_CONFIGURATION_MAP); + try { + sensorOrientation = characteristics.get(CameraCharacteristics.SENSOR_ORIENTATION); + Log.i("TAG", "orientation: " + sensorOrientation); + } catch (Exception e) { + e.printStackTrace(); + } + assert map != null; + mPreviewSize = Utils.chooseOptimalSize(map.getOutputSizes(SurfaceTexture.class), + mTextureView.getWidth(), + mTextureView.getHeight()); + Log.d("mPreviewSize", String.valueOf(mPreviewSize)); + mTextureView.setAspectRatio(mPreviewSize.getHeight(), mPreviewSize.getWidth()); + + manager.openCamera(cameraIdAvailable, new CameraDevice.StateCallback() { + @Override + public void onOpened(@NonNull CameraDevice camera) { + mCameraDevice = camera; + createCaptureSession(); + } + + @Override + public void onDisconnected(@NonNull CameraDevice camera) { + camera.close(); + mCameraDevice = null; + mCapturing = false; + } + + @Override + public void onError(@NonNull CameraDevice camera, final int error) { + Log.e("TAG", "打开相机错误 = " + error); + camera.close(); + mCameraDevice = null; + mCapturing = false; + } + }, mCaptureHandler); + } catch (CameraAccessException | SecurityException e) { + mCapturing = false; + Log.e("TAG", "启动图片捕获异常 ", e); + } + } + + // 创建捕获图片session + private void createCaptureSession() { + try { + final SurfaceTexture texture = mTextureView.getSurfaceTexture(); + texture.setDefaultBufferSize(mPreviewSize.getWidth(), mPreviewSize.getHeight()); + + final Surface surface = new Surface(texture); + final CaptureRequest.Builder captureRequestBuilder = mCameraDevice.createCaptureRequest(CameraDevice.TEMPLATE_PREVIEW); + captureRequestBuilder.addTarget(surface); + + mImageReader = ImageReader.newInstance( + mPreviewSize.getWidth(), mPreviewSize.getHeight(), ImageFormat.JPEG, 10); + + mCameraDevice.createCaptureSession( + Arrays.asList(surface, mImageReader.getSurface()), + new CameraCaptureSession.StateCallback() { + + @Override + public void onConfigured(@NonNull CameraCaptureSession cameraCaptureSession) { + if (null == mCameraDevice) { + return; + } + + mCaptureSession = cameraCaptureSession; + try { + captureRequestBuilder.set( + CaptureRequest.CONTROL_AF_MODE, + CaptureRequest.CONTROL_AF_MODE_CONTINUOUS_PICTURE); + captureRequestBuilder.set( + CaptureRequest.CONTROL_AE_MODE, CaptureRequest.CONTROL_AE_MODE_ON_AUTO_FLASH); + + CaptureRequest previewRequest = captureRequestBuilder.build(); + mCaptureSession.setRepeatingRequest( + previewRequest, new CameraCaptureSession.CaptureCallback() { + @Override + public void onCaptureProgressed(@NonNull CameraCaptureSession session, @NonNull CaptureRequest request, @NonNull CaptureResult partialResult) { + super.onCaptureProgressed(session, request, partialResult); + } + + @Override + public void onCaptureFailed(@NonNull CameraCaptureSession session, @NonNull CaptureRequest request, @NonNull CaptureFailure failure) { + super.onCaptureFailed(session, request, failure); + Log.d("TAG", "onCaptureFailed = " + failure.getReason()); + } + + @Override + public void onCaptureSequenceCompleted(@NonNull CameraCaptureSession session, int sequenceId, long frameNumber) { + super.onCaptureSequenceCompleted(session, sequenceId, frameNumber); + Log.d("TAG", "onCaptureSequenceCompleted"); + } + }, mCaptureHandler); + } catch (final CameraAccessException e) { + Log.e("TAG", "onConfigured exception ", e); + } + } + + @Override + public void onConfigureFailed(@NonNull final CameraCaptureSession cameraCaptureSession) { + Log.e("TAG", "onConfigureFailed "); + } + }, + null); + } catch (final CameraAccessException e) { + Log.e("TAG", "创建捕获图片session异常 ", e); + } + } + + // 关闭相机 + private void closeCamera() { + if (mCaptureSession != null) { + mCaptureSession.close(); + mCaptureSession = null; + } + if (mCameraDevice != null) { + mCameraDevice.close(); + mCameraDevice = null; + } + if (mImageReader != null) { + mImageReader.close(); + mImageReader = null; + } + mCapturing = false; + } + + // 关闭捕获图片线程 + private void stopCaptureThread() { + try { + if (mCaptureThread != null) { + mCaptureThread.quitSafely(); + mCaptureThread.join(); + } + mCaptureThread = null; + mCaptureHandler = null; + } catch (final Exception e) { + e.printStackTrace(); + } + } + + @Override + public void onPause() { + // 关闭相机 + closeCamera(); + stopCaptureThread(); + super.onPause(); + } + + @Override + public void onStop() { + // 关闭相机 + closeCamera(); + stopCaptureThread(); + super.onStop(); + } + + // 启动捕获图片线程 + private void startCaptureThread() { + mCaptureThread = new HandlerThread("capture"); + mCaptureThread.start(); + mCaptureHandler = new Handler(mCaptureThread.getLooper()); + } + + @Override + public void onResume() { + initStatus(); + super.onResume(); + } + + // check had permission + private boolean hasPermission() { + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) { + return getActivity().checkSelfPermission(Manifest.permission.CAMERA) == PackageManager.PERMISSION_GRANTED; + } else { + return true; + } + } + + // request permission + private void requestPermission() { + if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.M) { + requestPermissions(new String[]{Manifest.permission.CAMERA}, 1); + } + } + +} \ No newline at end of file diff --git a/code/CommonGridAdapter.java b/code/CommonGridAdapter.java new file mode 100644 index 0000000..7687f81 --- /dev/null +++ b/code/CommonGridAdapter.java @@ -0,0 +1,38 @@ +package com.example.adapter; + +import androidx.annotation.NonNull; + +import com.example.smartglasses.R; +import com.xuexiang.xui.adapter.recyclerview.BaseRecyclerAdapter; +import com.xuexiang.xui.adapter.recyclerview.RecyclerViewHolder; +import com.xuexiang.xui.adapter.simple.AdapterItem; +import com.xuexiang.xui.widget.imageview.ImageLoader; +import com.xuexiang.xui.widget.imageview.RadiusImageView; + +public class CommonGridAdapter extends BaseRecyclerAdapter { + private boolean mIsCircle; + + public CommonGridAdapter(boolean isCircle) { + super(); + mIsCircle = isCircle; + } + + + @Override + protected int getItemLayoutId(int viewType) { + return R.layout.adapter_common_grid_item; + } + + + @Override + protected void bindData(@NonNull RecyclerViewHolder holder, int position, AdapterItem item) { + if (item != null) { + RadiusImageView imageView = holder.findViewById(R.id.riv_item); + imageView.setCircle(mIsCircle); + ImageLoader.get().loadImage(imageView, item.getIcon()); + + holder.text(R.id.tv_title, item.getTitle().toString().substring(0, 1)); + holder.text(R.id.tv_sub_title, item.getTitle()); + } + } +} diff --git a/code/DeviseFragment.java b/code/DeviseFragment.java new file mode 100644 index 0000000..c92ef2f --- /dev/null +++ b/code/DeviseFragment.java @@ -0,0 +1,55 @@ +package com.example.fragment; + +import android.os.Bundle; + +import androidx.fragment.app.Fragment; + +import android.util.Log; +import android.view.LayoutInflater; +import android.view.View; +import android.view.ViewGroup; + +import com.example.smartglasses.R; +import com.example.smartglasses.databinding.FragmentDeviseBinding; + +public class DeviseFragment extends Fragment { + + FragmentDeviseBinding binding; + private String jumpPage; + private static final String ARG_PARAM1 = "jumpPage"; + + public DeviseFragment() { + // Required empty public constructor + } + + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + if (getArguments() != null) { + jumpPage = getArguments().getString(ARG_PARAM1); + Log.i("devise", "onCreate: 在碎片中获得devise" + jumpPage); + } + } + + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + // Inflate the layout for this fragment + binding = FragmentDeviseBinding.inflate(inflater, container, false); + binding.cardView.setOnClickListener(new View.OnClickListener() { + @Override + public void onClick(View view) { + Log.i("devise", "onClick: 我点击了"); + if (jumpPage.equals("location")) { + LocationFragment fragment = new LocationFragment(); + getFragmentManager().beginTransaction().replace(R.id.frag_layout, fragment).commit(); + } else if (jumpPage.equals("trace")) { + TraceFragment fragment = new TraceFragment(); + getFragmentManager().beginTransaction().replace(R.id.frag_layout, fragment).commit(); + } + } + }); + return binding.getRoot(); + } +} \ No newline at end of file diff --git a/code/HomeFragment.java b/code/HomeFragment.java new file mode 100644 index 0000000..e31f844 --- /dev/null +++ b/code/HomeFragment.java @@ -0,0 +1,117 @@ +package com.example.fragment; + +import android.annotation.SuppressLint; +import android.content.Intent; +import android.graphics.Bitmap; +import android.graphics.BitmapFactory; +import android.graphics.Matrix; +import android.os.Bundle; +import android.util.Log; +import android.view.LayoutInflater; +import android.view.View; +import android.view.ViewGroup; +import android.widget.Button; +import android.widget.ImageView; +import android.widget.TextView; + +import androidx.fragment.app.Fragment; + +import com.example.activity.BarActivity; +import com.example.smartglasses.MainActivity; +import com.example.smartglasses.R; +import com.example.otherclass.StereoBMUtil; + +import org.opencv.android.OpenCVLoader; + +import java.io.IOException; + +public class HomeFragment extends Fragment { + + + + private ImageView imageViewResult; + private StereoBMUtil stereoBMUtil; + private TextView textView; + private Bitmap leftBitmap; + private Bitmap rightBitmap; + + + + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + + } + @SuppressLint("ClickableViewAccessibility") + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + View view=inflater.inflate(R.layout.fragment_home, container, false); + //初始化 + if (OpenCVLoader.initDebug()) { + Log.d("TAG", "OpenCVLoader初始化成功"); + } + + stereoBMUtil = new StereoBMUtil(); + ImageView imageViewLeft = view.findViewById(R.id.imageViewLeft); + ImageView imageViewRight = view.findViewById(R.id.imageViewRight); + imageViewResult = view.findViewById(R.id.imageViewResult); + textView = view.findViewById(R.id.result_tv); + Button button = view.findViewById(R.id.button); + Button button1 = view.findViewById(R.id.button1); + + // 加载图片 + try { + leftBitmap = BitmapFactory.decodeStream(getContext().getAssets().open("Left3.bmp")); + rightBitmap = BitmapFactory.decodeStream(getContext().getAssets().open("Right3.bmp")); + imageViewLeft.setImageBitmap(leftBitmap); + imageViewRight.setImageBitmap(rightBitmap); + } catch (IOException e) { + e.printStackTrace(); + } + + // 执行StereoBM算法 + button.setOnClickListener(v -> { + try { + Bitmap result = stereoBMUtil.compute(leftBitmap, rightBitmap); + imageViewResult.setImageBitmap(result); + } catch (Exception e) { + e.printStackTrace(); + } + }); + + // 打开相机activity + button1.setOnClickListener(v -> { +// Intent intent = new Intent(MainActivity.this, CameraActivity.class); + Log.d("Test", "启动C活动"); + BarActivity activity = (BarActivity) getActivity(); +// startActivity(intent); + activity.setCurrentFragment(4); + }); + + // 点击计算后的图片，获取三维坐标数据 + imageViewResult.setOnTouchListener((v, event) -> { + // 获取触摸点的坐标 x, y + float x = event.getX(); + float y = event.getY(); + // 目标点的坐标 + float[] dst = new float[2]; + Matrix imageMatrix = imageViewResult.getImageMatrix(); + Matrix inverseMatrix = new Matrix(); + imageMatrix.invert(inverseMatrix); + inverseMatrix.mapPoints(dst, new float[]{x, y}); + int dstX = (int) dst[0]; + int dstY = (int) dst[1]; + // 获取该点的三维坐标 + double[] c = stereoBMUtil.getCoordinate(dstX, dstY); + String s = String.format("点(%d, %d) 三维坐标：[%.2f, %.2f, %.2f]", dstX, dstY, c[0], c[1], c[2]); +// Log.d(TAG, s); + textView.setText(s); + return true; + }); + + + return view; + } +} \ No newline at end of file diff --git a/code/LocationFragment.java b/code/LocationFragment.java new file mode 100644 index 0000000..ae8f60a --- /dev/null +++ b/code/LocationFragment.java @@ -0,0 +1,62 @@ +package com.example.fragment; + +import android.os.Bundle; + +import androidx.fragment.app.Fragment; + +import android.view.LayoutInflater; +import android.view.View; +import android.view.ViewGroup; + +import com.example.smartglasses.R; + + +public class LocationFragment extends Fragment { + + // TODO: Rename parameter arguments, choose names that match + // the fragment initialization parameters, e.g. ARG_ITEM_NUMBER + private static final String ARG_PARAM1 = "param1"; + private static final String ARG_PARAM2 = "param2"; + + // TODO: Rename and change types of parameters + private String mParam1; + private String mParam2; + + public LocationFragment() { + // Required empty public constructor + } + + /** + * Use this factory method to create a new instance of + * this fragment using the provided parameters. + * + * @param param1 Parameter 1. + * @param param2 Parameter 2. + * @return A new instance of fragment LocationFragment. + */ + // TODO: Rename and change types and number of parameters + public static LocationFragment newInstance(String param1, String param2) { + LocationFragment fragment = new LocationFragment(); + Bundle args = new Bundle(); + args.putString(ARG_PARAM1, param1); + args.putString(ARG_PARAM2, param2); + fragment.setArguments(args); + return fragment; + } + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + if (getArguments() != null) { + mParam1 = getArguments().getString(ARG_PARAM1); + mParam2 = getArguments().getString(ARG_PARAM2); + } + } + + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + // Inflate the layout for this fragment + return inflater.inflate(R.layout.fragment_location, container, false); + } +} \ No newline at end of file diff --git a/code/MainActivity.java b/code/MainActivity.java index b44e274..b613b24 100644 --- a/code/MainActivity.java +++ b/code/MainActivity.java @@ -1,4 +1,6 @@ -package com.yeyupiaoling.teststadiometry; +package com.example.smartglasses; + +import androidx.appcompat.app.AppCompatActivity; import android.annotation.SuppressLint; import android.content.Intent; @@ -7,12 +9,15 @@ import android.graphics.BitmapFactory; import android.graphics.Matrix; import android.os.Bundle; import android.util.Log; +import android.view.SurfaceView; import android.widget.Button; import android.widget.ImageView; import android.widget.TextView; -import androidx.appcompat.app.AppCompatActivity; +import com.example.otherclass.StereoBMUtil; +import org.opencv.android.CameraBridgeViewBase; +import org.opencv.android.JavaCameraView; import org.opencv.android.OpenCVLoader; import java.io.IOException; @@ -67,6 +72,7 @@ public class MainActivity extends AppCompatActivity { // 打开相机activity button1.setOnClickListener(v -> { Intent intent = new Intent(MainActivity.this, CameraActivity.class); + Log.d("Test", "启动C活动"); startActivity(intent); }); diff --git a/code/MineFragment.java b/code/MineFragment.java new file mode 100644 index 0000000..6c18a02 --- /dev/null +++ b/code/MineFragment.java @@ -0,0 +1,66 @@ +package com.example.fragment; + +import android.content.Context; +import android.graphics.drawable.Drawable; +import android.os.Bundle; + +import androidx.fragment.app.Fragment; +import androidx.recyclerview.widget.RecyclerView; + +import android.util.Log; +import android.view.LayoutInflater; +import android.view.View; +import android.view.ViewGroup; + +import com.example.adapter.CommonGridAdapter; +import com.example.smartglasses.R; +import com.example.smartglasses.databinding.FragmentMineBinding; +import com.xuexiang.xui.adapter.simple.AdapterItem; +import com.xuexiang.xui.utils.ResUtils; +import com.xuexiang.xui.utils.WidgetUtils; + +import java.util.ArrayList; +import java.util.List; + +public class MineFragment extends Fragment { + RecyclerView recyclerHead; + FragmentMineBinding binding; + private CommonGridAdapter mGridAdapter; + + public MineFragment() { + // Required empty public constructor + } + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + } + + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + // Inflate the layout for this fragment + binding = FragmentMineBinding.inflate(inflater, container, false); + recyclerHead = binding.recyclerHead; + initTools(); + return binding.getRoot(); + } + + public void initTools(){ + WidgetUtils.initGridRecyclerView(recyclerHead, 4, 0); + recyclerHead.setAdapter(mGridAdapter = new CommonGridAdapter(true)); + mGridAdapter.refresh(getGridItems(this.getActivity(),R.array.grid_titles_entry,R.array.grid_icons_entry)); + } + + private static List getGridItems(Context context, int titleArrayId, int iconArrayId) { + List list = new ArrayList<>(); + String[] titles = ResUtils.getStringArray(titleArrayId); + Drawable[] icons = ResUtils.getDrawableArray(context, iconArrayId); + for (int i = 0; i < titles.length; i++) { + list.add(new AdapterItem(titles[i], icons[i])); + } + Log.i("TAB", "getGridItems: "+list.size()); + return list; + } + +} \ No newline at end of file diff --git a/code/MyApplication.java b/code/MyApplication.java new file mode 100644 index 0000000..a7e3033 --- /dev/null +++ b/code/MyApplication.java @@ -0,0 +1,15 @@ +package com.example; + +import android.app.Application; + +import com.xuexiang.xui.XUI; + +public class MyApplication extends Application { + + @Override + public void onCreate() { + super.onCreate(); + XUI.init(this); + XUI.debug(true); + } +} diff --git a/code/StereoBMUtil.java b/code/StereoBMUtil.java index 2f22708..27e4dae 100644 --- a/code/StereoBMUtil.java +++ b/code/StereoBMUtil.java @@ -1,4 +1,4 @@ -package com.yeyupiaoling.teststadiometry; +package com.example.otherclass; import android.graphics.Bitmap; @@ -16,108 +16,108 @@ import static org.opencv.android.Utils.bitmapToMat; import static org.opencv.android.Utils.matToBitmap; public class StereoBMUtil { - private static final String TAG = StereoBMUtil.class.getName(); - // 【需要根据摄像头修改参数】 - private final int imageWidth = 1280; // 单目图像的宽度 - private final int imageHeight = 720; // 单目图像的高度 - private Mat Q = new Mat(); + private static final String TAG = StereoBMUtil.class.getName(); + // 【需要根据摄像头修改参数】 + private final int imageWidth = 1280; // 单目图像的宽度 + private final int imageHeight = 720; // 单目图像的高度 + private Mat Q = new Mat(); - //映射表 - private Mat mapLx = new Mat(); - private Mat mapLy = new Mat(); - private Mat mapRx = new Mat(); - private Mat mapRy = new Mat(); + //映射表 + private Mat mapLx = new Mat(); + private Mat mapLy = new Mat(); + private Mat mapRx = new Mat(); + private Mat mapRy = new Mat(); - private StereoBM bm = StereoBM.create(); - private Mat xyz; + private StereoBM bm = StereoBM.create(); + private Mat xyz; - public StereoBMUtil() { - Mat cameraMatrixL = new Mat(3, 3, CvType.CV_64F); - Mat distCoeffL = new Mat(5, 1, CvType.CV_64F); - Mat cameraMatrixR = new Mat(3, 3, CvType.CV_64F); - Mat distCoeffR = new Mat(5, 1, CvType.CV_64F); - Mat T = new Mat(3, 1, CvType.CV_64F); - Mat rec = new Mat(3, 1, CvType.CV_64F); - // 【需要根据摄像头修改参数】左目相机标定参数 fc_left_x 0 cc_left_x 0 fc_left_y cc_left_y 0 0 1 - cameraMatrixL.put(0, 0, 849.38718, 0, 720.28472, 0, 850.60613, 373.88887, 0, 0, 1); - //【需要根据摄像头修改参数】左目相机标定参数 kc_left_01, kc_left_02, kc_left_03, kc_left_04, kc_left_05 - distCoeffL.put(0, 0, 0.01053, 0.02881, 0.00144, 0.00192, 0.00000); - //【需要根据摄像头修改参数】右目相机标定参数 fc_right_x 0 cc_right_x 0 fc_right_y cc_right_y 0 0 1 - cameraMatrixR.put(0, 0, 847.54814, 0, 664.36648, 0, 847.75828, 368.46946, 0, 0, 1); - //【需要根据摄像头修改参数】右目相机标定参数 kc_right_01, kc_right_02, kc_right_03, kc_right_04, kc_right_05 - distCoeffR.put(0, 0, 0.00905, 0.02094, 0.00082, 0.00183, 0.00000); - //【需要根据摄像头修改参数】T平移向量 - T.put(0, 0, -59.32102, 0.27563, -0.79807); - // 【需要根据摄像头修改参数】rec旋转向量 - rec.put(0, 0, -0.00927, -0.00228, -0.00070); + public StereoBMUtil() { + Mat cameraMatrixL = new Mat(3, 3, CvType.CV_64F); + Mat distCoeffL = new Mat(5, 1, CvType.CV_64F); + Mat cameraMatrixR = new Mat(3, 3, CvType.CV_64F); + Mat distCoeffR = new Mat(5, 1, CvType.CV_64F); + Mat T = new Mat(3, 1, CvType.CV_64F); + Mat rec = new Mat(3, 1, CvType.CV_64F); + // 【需要根据摄像头修改参数】左目相机标定参数 fc_left_x 0 cc_left_x 0 fc_left_y cc_left_y 0 0 1 + cameraMatrixL.put(0, 0, 849.38718, 0, 720.28472, 0, 850.60613, 373.88887, 0, 0, 1); + //【需要根据摄像头修改参数】左目相机标定参数 kc_left_01, kc_left_02, kc_left_03, kc_left_04, kc_left_05 + distCoeffL.put(0, 0, 0.01053, 0.02881, 0.00144, 0.00192, 0.00000); + //【需要根据摄像头修改参数】右目相机标定参数 fc_right_x 0 cc_right_x 0 fc_right_y cc_right_y 0 0 1 + cameraMatrixR.put(0, 0, 847.54814, 0, 664.36648, 0, 847.75828, 368.46946, 0, 0, 1); + //【需要根据摄像头修改参数】右目相机标定参数 kc_right_01, kc_right_02, kc_right_03, kc_right_04, kc_right_05 + distCoeffR.put(0, 0, 0.00905, 0.02094, 0.00082, 0.00183, 0.00000); + //【需要根据摄像头修改参数】T平移向量 + T.put(0, 0, -59.32102, 0.27563, -0.79807); + // 【需要根据摄像头修改参数】rec旋转向量 + rec.put(0, 0, -0.00927, -0.00228, -0.00070); - Size imageSize = new Size(imageWidth, imageHeight); - Mat R = new Mat(); - Mat Rl = new Mat(); - Mat Rr = new Mat(); - Mat Pl = new Mat(); - Mat Pr = new Mat(); - Rect validROIL = new Rect(); - Rect validROIR = new Rect(); - Calib3d.Rodrigues(rec, R); //Rodrigues变换 - //图像校正之后，会对图像进行裁剪，这里的validROI就是指裁剪之后的区域 - Calib3d.stereoRectify(cameraMatrixL, distCoeffL, cameraMatrixR, distCoeffR, imageSize, R, T, Rl, Rr, Pl, Pr, Q, Calib3d.CALIB_ZERO_DISPARITY, - 0, imageSize, validROIL, validROIR); - Imgproc.initUndistortRectifyMap(cameraMatrixL, distCoeffL, Rl, Pl, imageSize, CvType.CV_32FC1, mapLx, mapLy); - Imgproc.initUndistortRectifyMap(cameraMatrixR, distCoeffR, Rr, Pr, imageSize, CvType.CV_32FC1, mapRx, mapRy); + Size imageSize = new Size(imageWidth, imageHeight); + Mat R = new Mat(); + Mat Rl = new Mat(); + Mat Rr = new Mat(); + Mat Pl = new Mat(); + Mat Pr = new Mat(); + Rect validROIL = new Rect(); + Rect validROIR = new Rect(); + Calib3d.Rodrigues(rec, R); //Rodrigues变换 + //图像校正之后，会对图像进行裁剪，这里的validROI就是指裁剪之后的区域 + Calib3d.stereoRectify(cameraMatrixL, distCoeffL, cameraMatrixR, distCoeffR, imageSize, R, T, Rl, Rr, Pl, Pr, Q, Calib3d.CALIB_ZERO_DISPARITY, + 0, imageSize, validROIL, validROIR); + Imgproc.initUndistortRectifyMap(cameraMatrixL, distCoeffL, Rl, Pl, imageSize, CvType.CV_32FC1, mapLx, mapLy); + Imgproc.initUndistortRectifyMap(cameraMatrixR, distCoeffR, Rr, Pr, imageSize, CvType.CV_32FC1, mapRx, mapRy); - int blockSize = 18; - int numDisparities = 11; - int uniquenessRatio = 5; - bm.setBlockSize(2 * blockSize + 5); //SAD窗口大小 - bm.setROI1(validROIL); //左右视图的有效像素区域 - bm.setROI2(validROIR); - bm.setPreFilterCap(61); //预处理滤波器 - bm.setMinDisparity(32); //最小视差，默认值为0, 可以是负值，int型 - bm.setNumDisparities(numDisparities * 16); //视差窗口，即最大视差值与最小视差值之差,16的整数倍 - bm.setTextureThreshold(10); - bm.setUniquenessRatio(uniquenessRatio); //视差唯一性百分比,uniquenessRatio主要可以防止误匹配 - bm.setSpeckleWindowSize(100); //检查视差连通区域变化度的窗口大小 - bm.setSpeckleRange(32); //32视差变化阈值，当窗口内视差变化大于阈值时，该窗口内的视差清零 - bm.setDisp12MaxDiff(-1); - } + int blockSize = 18; + int numDisparities = 11; + int uniquenessRatio = 5; + bm.setBlockSize(2 * blockSize + 5); //SAD窗口大小 + bm.setROI1(validROIL); //左右视图的有效像素区域 + bm.setROI2(validROIR); + bm.setPreFilterCap(61); //预处理滤波器 + bm.setMinDisparity(32); //最小视差，默认值为0, 可以是负值，int型 + bm.setNumDisparities(numDisparities * 16); //视差窗口，即最大视差值与最小视差值之差,16的整数倍 + bm.setTextureThreshold(10); + bm.setUniquenessRatio(uniquenessRatio); //视差唯一性百分比,uniquenessRatio主要可以防止误匹配 + bm.setSpeckleWindowSize(100); //检查视差连通区域变化度的窗口大小 + bm.setSpeckleRange(32); //32视差变化阈值，当窗口内视差变化大于阈值时，该窗口内的视差清零 + bm.setDisp12MaxDiff(-1); + } - public Bitmap compute(Bitmap left, Bitmap right) { - Mat rgbImageL = new Mat(); - Mat rgbImageR = new Mat(); - Mat grayImageL = new Mat(); - Mat rectifyImageL = new Mat(); - Mat rectifyImageR = new Mat(); - Mat grayImageR = new Mat(); - //用于存放每个像素点距离相机镜头的三维坐标 - xyz = new Mat(); - Mat disp = new Mat(); - bitmapToMat(left, rgbImageL); - bitmapToMat(right, rgbImageR); - Imgproc.cvtColor(rgbImageL, grayImageL, Imgproc.COLOR_BGR2GRAY); - Imgproc.cvtColor(rgbImageR, grayImageR, Imgproc.COLOR_BGR2GRAY); + public Bitmap compute(Bitmap left, Bitmap right) { + Mat rgbImageL = new Mat(); + Mat rgbImageR = new Mat(); + Mat grayImageL = new Mat(); + Mat rectifyImageL = new Mat(); + Mat rectifyImageR = new Mat(); + Mat grayImageR = new Mat(); + //用于存放每个像素点距离相机镜头的三维坐标 + xyz = new Mat(); + Mat disp = new Mat(); + bitmapToMat(left, rgbImageL); + bitmapToMat(right, rgbImageR); + Imgproc.cvtColor(rgbImageL, grayImageL, Imgproc.COLOR_BGR2GRAY); + Imgproc.cvtColor(rgbImageR, grayImageR, Imgproc.COLOR_BGR2GRAY); - Imgproc.remap(grayImageL, rectifyImageL, mapLx, mapLy, Imgproc.INTER_LINEAR); - Imgproc.remap(grayImageR, rectifyImageR, mapRx, mapRy, Imgproc.INTER_LINEAR); + Imgproc.remap(grayImageL, rectifyImageL, mapLx, mapLy, Imgproc.INTER_LINEAR); + Imgproc.remap(grayImageR, rectifyImageR, mapRx, mapRy, Imgproc.INTER_LINEAR); - bm.compute(rectifyImageL, rectifyImageR, disp); //输入图像必须为灰度图 - Calib3d.reprojectImageTo3D(disp, xyz, Q, true); //在实际求距离时，ReprojectTo3D出来的X / W, Y / W, Z / W都要乘以16 - Core.multiply(xyz, new Mat(xyz.size(), CvType.CV_32FC3, new Scalar(16, 16, 16)), xyz); + bm.compute(rectifyImageL, rectifyImageR, disp); //输入图像必须为灰度图 + Calib3d.reprojectImageTo3D(disp, xyz, Q, true); //在实际求距离时，ReprojectTo3D出来的X / W, Y / W, Z / W都要乘以16 + Core.multiply(xyz, new Mat(xyz.size(), CvType.CV_32FC3, new Scalar(16, 16, 16)), xyz); - // 用于显示处理 - Mat disp8U = new Mat(disp.rows(), disp.cols(), CvType.CV_8UC1); - disp.convertTo(disp, CvType.CV_32F, 1.0 / 16); //除以16得到真实视差值 - Core.normalize(disp, disp8U, 0, 255, Core.NORM_MINMAX, CvType.CV_8U); - Imgproc.medianBlur(disp8U, disp8U, 9); - Bitmap resultBitmap = Bitmap.createBitmap(disp8U.cols(), disp8U.rows(), Bitmap.Config.ARGB_8888); - matToBitmap(disp8U, resultBitmap); - return resultBitmap; - } + // 用于显示处理 + Mat disp8U = new Mat(disp.rows(), disp.cols(), CvType.CV_8UC1); + disp.convertTo(disp, CvType.CV_32F, 1.0 / 16); //除以16得到真实视差值 + Core.normalize(disp, disp8U, 0, 255, Core.NORM_MINMAX, CvType.CV_8U); + Imgproc.medianBlur(disp8U, disp8U, 9); + Bitmap resultBitmap = Bitmap.createBitmap(disp8U.cols(), disp8U.rows(), Bitmap.Config.ARGB_8888); + matToBitmap(disp8U, resultBitmap); + return resultBitmap; + } - public double[] getCoordinate(int dstX, int dstY) { - double x = xyz.get(dstY, dstX)[0]; - double y = xyz.get(dstY, dstX)[1]; - double z = xyz.get(dstY, dstX)[2]; - return new double[]{x, y, z}; - } -} + public double[] getCoordinate(int dstX, int dstY) { + double x = xyz.get(dstY, dstX)[0]; + double y = xyz.get(dstY, dstX)[1]; + double z = xyz.get(dstY, dstX)[2]; + return new double[]{x, y, z}; + } +} \ No newline at end of file diff --git a/code/TraceFragment.java b/code/TraceFragment.java new file mode 100644 index 0000000..45de9df --- /dev/null +++ b/code/TraceFragment.java @@ -0,0 +1,35 @@ +package com.example.fragment; + +import android.os.Bundle; + +import androidx.fragment.app.Fragment; + +import android.view.LayoutInflater; +import android.view.View; +import android.view.ViewGroup; + +import com.example.smartglasses.R; +import com.example.smartglasses.databinding.FragmentTraceBinding; + + +public class TraceFragment extends Fragment { + FragmentTraceBinding binding; + private String[] titles = {"今天","昨天"}; + public TraceFragment() { + // Required empty public constructor + } + + @Override + public void onCreate(Bundle savedInstanceState) { + super.onCreate(savedInstanceState); + } + + @Override + public View onCreateView(LayoutInflater inflater, ViewGroup container, + Bundle savedInstanceState) { + // Inflate the layout for this fragment + binding = FragmentTraceBinding.inflate(inflater, container, false); + binding.easyIndicator2.setTabTitles(titles); + return binding.getRoot(); + } +} \ No newline at end of file diff --git a/code/Utils.java b/code/Utils.java index 2704956..3a4b15f 100644 --- a/code/Utils.java +++ b/code/Utils.java @@ -1,4 +1,4 @@ -package com.yeyupiaoling.teststadiometry; +package com.example.otherclass; import android.graphics.Bitmap; import android.graphics.Matrix;