update readme

README.md

@@ -1 +1,57 @@
-Aruco Android
+# Aruco Android
+
+> It is an application to detect Aruco Markers.
+
+<center>
+	<img width="75%" src="screenshots/marker_drawing_axis.png" alt="screenshot_home" />
+</center>
+
+## Credits
+
+This application uses:
+
+- **opencv-contrib** for computer vision, see [LICENSE](opencv344-contrib/LICENSE),
+- **aruco**, module from opencv-contrib, for ***aruco markers*** detection.
+- **rajawali**, for 3D models renderer.
+
+See more about ***opencv***, and ***aruco*** from:
+
+- [opencv](https://opencv.org)
+- [opencv-contrib](https://github.com/opencv/opencv_contrib)
+- [aruco](http://www.uco.es/investiga/grupos/ava/node/26)
+- [rajawali](https://github.com/Rajawali/Rajawali)
+
+## About
+
+Aruco Android is an application to detect ***Aruco Markers***, and try to render a 3D model above it.
+
+## Using
+
+Camera must be calibrated before detect markers, for that, 
+
+- compile and run ***camera-calibration*** projet, 
+- present the ***calibration board*** to the camera
+- capture between ***15 and 20 images***, and 
+- click on ***calibrate*** menu.
+
+Each frame must contain at least ***10 markers***
+
+<center>
+	<img width="75%" src="screenshots/board_detecting_markers.png" alt="screenshot_home" />
+</center>
+
+After that, compile ***app*** project and enjoy... 
+
+<center>
+	<img width="75%" src="screenshots/board_drawing_axis.png" alt="screenshot_home" />
+</center>
+
+## Contributions
+
+You can help turn this application into Augmented Reality, there are some bugs on the positioning of the 3D model above marker. 
+
+<center>
+	<img width="75%" src="screenshots/marker_drawing_model.png" alt="screenshot_home" />
+</center>
+
+Thank you :)

app/src/main/java/mg/rivolink/app/aruco/MainActivity.java

@@ -149,6 +149,7 @@ public Mat onCameraFrame(CameraBridgeViewBase.CvCameraViewFrame inputFrame){
 
 			Aruco.estimatePoseSingleMarkers(corners,0.04f,cameraMatrix,distCoeffs,rvecs,tvecs);
 			for(int i=0;i<ids.toArray().length;i++){
+				transformModel(tvecs.row(0),rvecs.row(0));
 				Aruco.drawAxis(rgb,cameraMatrix,distCoeffs,rvecs.row(i),tvecs.row(i),0.02f);
 			}
 
@@ -161,7 +162,23 @@ public Mat onCameraFrame(CameraBridgeViewBase.CvCameraViewFrame inputFrame){
 	public void onCameraViewStopped(){
 		rgb.release();
 	}
-
+
+	private void transformModel(final Mat tvec,final Mat rvec){
+		runOnUiThread(new Runnable(){
+			@Override
+			public void run(){
+				renderer.transform(
+					tvec.get(0,0)[0]*50,
+					-tvec.get(0,0)[1]*50,
+					-tvec.get(0,0)[2]*50,
+
+					rvec.get(0,0)[2],//yaw
+					rvec.get(0,0)[1],//pitch
+					rvec.get(0,0)[0] //roll
+				);
+			}
+		});
+	}
 }
 
 

app/src/main/java/mg/rivolink/app/aruco/renderer/Renderer3D.java

@@ -11,6 +11,7 @@
 import org.rajawali3d.renderer.Renderer;
 
 import mg.rivolink.app.aruco.R;
+import org.rajawali3d.math.*;
 
 public class Renderer3D extends Renderer{
 
@@ -22,30 +23,44 @@ public Renderer3D(Context context){
 		setFrameRate(60);
 	}
 
+	@Override
 	protected void initScene() {
 		light=new PointLight();
 		light.setPosition(0,0,4);
 		light.setPower(3);
 
 		try {
-			LoaderOBJ objParser=new LoaderOBJ(mContext.getResources(),mTextureManager,R.raw.camaro_obj);
+			LoaderOBJ objParser=new LoaderOBJ(mContext.getResources(),mTextureManager,R.raw.box_obj);
 			objParser.parse();
 			model=objParser.getParsedObject();
-			model.setPosition(0,0,-5);
-			model.setRotation(90,90,0);
+			model.setPosition(0,0,-10);
+			model.setVisible(false);
 			getCurrentScene().addLight(light);
 			getCurrentScene().addChild(model);
 
-
 		} catch(ParsingException e) {
 			e.printStackTrace();
 		}
 	}
+
+	public void transform(double tx,double ty,double tz,double yaw,double pitch,double roll){
+		/* Some bugs here
+		if(!model.isVisible())
+			model.setVisible(true);
+		
+		model.setPosition(tx,ty,tz);
+		model.setOrientation(new Quaternion().fromEuler(
+			Math.toDegrees(yaw),
+			Math.toDegrees(pitch),
+			Math.toDegrees(roll)
+		));
+		*/
+	}
 
 	@Override
 	protected void render(long ellapsedRealtime,double deltaTime){
 		super.render(ellapsedRealtime,deltaTime);
-		model.rotate(Vector3.Axis.Y,0.5);
+		//model.rotate(Vector3.Axis.Y,0.5);
 	}
 
 	@Override

app/src/main/res/raw/box_mtl

@@ -0,0 +1,16 @@
+# Wavefront .mtl file  -  created by SpaceDraw
+
+# File created: 20-03-24, 21:04
+
+newmtl standard
+Ns 20.0
+d 1.0
+Tr 0.0
+illum 2
+Ka 0.50189996 0.50189996 0.50189996 
+Kd 0.50189996 0.50189996 0.50189996 
+Ks 0.50189996 0.50189996 0.50189996 
+Ke 0.0 0.0 0.0 
+map_Ka brick.jpg
+map_Kd brick.jpg
+

app/src/main/res/raw/box_obj

@@ -0,0 +1,84 @@
+# Wavefront .obj file  -  created by SpaceDraw
+
+# File created: 20-03-24, 21:04
+
+mtllib box.mtl
+
+#
+# object cube1
+#
+
+v -1.504095 -1.498365 -1.502577
+v 1.491942 -1.498365 -1.502577
+v -1.504095 1.497673 -1.502577
+v 1.491942 1.497673 -1.502577
+v -1.504095 -1.498365 1.493461
+v 1.491942 -1.498365 1.493461
+v -1.504095 1.497673 1.493461
+v 1.491942 1.497673 1.493461
+# 8 vertices
+
+vn 0.0 -1.0 0.0
+vn 0.0 -1.0 0.0
+vn 0.0 -1.0 0.0
+vn 0.0 -1.0 0.0
+vn 0.0 1.0 0.0
+vn 0.0 1.0 0.0
+vn 0.0 1.0 0.0
+vn 0.0 1.0 0.0
+vn -1.0 0.0 0.0
+vn -1.0 0.0 0.0
+vn -1.0 0.0 0.0
+vn -1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 1.0 0.0 0.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 -1.0
+vn 0.0 0.0 1.0
+vn 0.0 0.0 1.0
+vn 0.0 0.0 1.0
+vn 0.0 0.0 1.0
+# 24 vertex normals
+
+vt 0.0 0.0 -0.5
+vt 1.0 -1.0 -0.5
+vt 0.0 -1.0 -0.5
+vt 1.0 0.0 -0.5
+vt 1.0 0.0 0.5
+vt 0.0 0.0 0.5
+vt 0.0 -1.0 0.5
+vt 1.0 -1.0 0.5
+vt 0.0 0.0 -0.499999
+vt 1.0 -1.0 -0.499999
+vt 0.0 -1.0 -0.499999
+vt 1.0 0.0 -0.499999
+vt 0.0 0.0 0.5
+vt 1.0 0.0 0.5
+vt 1.0 -1.0 0.5
+vt 0.0 -1.0 0.5
+vt 0.0 -1.0 -0.5
+vt 0.0 0.0 -0.5
+vt 1.0 0.0 -0.5
+vt 1.0 -1.0 -0.5
+vt 0.0 -1.0 0.5
+vt 1.0 0.0 0.5
+vt 0.0 0.0 0.5
+vt 1.0 -1.0 0.5
+# 24 texture coords
+
+g cube1
+
+usemtl standard
+s off
+f 1/3/3 2/2/2 6/4/4 5/1/1
+f 7/8/8 8/7/7 4/6/6 3/5/5
+f 5/10/10 7/12/12 3/9/9 1/11/11
+f 2/15/15 4/14/14 8/13/13 6/16/16
+f 1/20/20 3/19/19 4/18/18 2/17/17
+f 6/24/24 8/22/22 7/23/23 5/21/21
+# 6 polygons
+