Bringing the CVCamera up to speed with new changes to android-jni - added…

Bringing the CVCamera up to speed with new changes to android-jni - added settings and centered the camera.

android/apps/CVCamera/AndroidManifest.xml

@@ -12,6 +12,12 @@
 				<category android:name="android.intent.category.LAUNCHER" />
 			</intent-filter>
 		</activity>
+		
+		<activity android:name="com.opencv.camera.CameraConfig" android:label="@string/app_name"
+			android:screenOrientation="landscape" 
+			android:configChanges="orientation|keyboardHidden|keyboard">
+		</activity>
+		
 
 	</application>
 

android/apps/CVCamera/Makefile

@@ -11,7 +11,9 @@ $(info ERROR local environement not setup! try:)
 $(info gedit $(LOCAL_ENV_MK))
 $(error Please setup the $(LOCAL_ENV_MK) - the default was just created')
 endif
-
+ifndef ARM_TARGETS
+ARM_TARGETS=armeabi armeabi-v7a
+endif
 ANDROID_NDK_BASE = $(ANDROID_NDK_ROOT)
 
 $(info OPENCV_CONFIG = $(OPENCV_CONFIG))
@@ -46,7 +48,8 @@ SWIG_C_OUT = $(SWIG_C_DIR)/cvcamera_swig.cpp
 BUILD_DEFS=OPENCV_CONFIG=$(OPENCV_CONFIG) \
 	PROJECT_PATH=$(PROJECT_PATH) \
 	V=$(V) \
-	$(NDK_FLAGS)
+	$(NDK_FLAGS) \
+	ARM_TARGETS=$(ARM_TARGETS)
 
 # The real native library stripped of symbols
 LIB		= libs/armeabi-v7a/$(LIBNAME) libs/armeabi/$(LIBNAME)

android/apps/CVCamera/jni/Application.mk

 # The ARMv7 is significanly faster due to the use of the hardware FPU
-APP_ABI := armeabi armeabi-v7a
\ No newline at end of file
+APP_ABI := $(ARM_TARGETS)
\ No newline at end of file

android/apps/CVCamera/jni/Processor.cpp

@@ -7,294 +7,280 @@
 
 #include "Processor.h"
 
-
 #include <sys/stat.h>
 
 using namespace cv;
 
 Processor::Processor() :
-			stard(20/*max_size*/, 8/*response_threshold*/,
-					15/*line_threshold_projected*/,
-					8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/),
-			fastd(20/*threshold*/, true/*nonmax_suppression*/),
-			surfd(100./*hessian_threshold*/, 1/*octaves*/, 2/*octave_layers*/)
+      stard(20/*max_size*/, 8/*response_threshold*/, 15/*line_threshold_projected*/, 8/*line_threshold_binarized*/, 5/*suppress_nonmax_size*/),
+      fastd(20/*threshold*/, true/*nonmax_suppression*/),
+      surfd(100./*hessian_threshold*/, 1/*octaves*/, 2/*octave_layers*/)
 
 {
 
 }
 
-Processor::~Processor() {
-	// TODO Auto-generated destructor stub
+Processor::~Processor()
+{
+  // TODO Auto-generated destructor stub
 }
 
-void Processor::detectAndDrawFeatures(int input_idx, image_pool* pool,int feature_type) {
-	FeatureDetector* fd = 0;
+void Processor::detectAndDrawFeatures(int input_idx, image_pool* pool, int feature_type)
+{
+  FeatureDetector* fd = 0;
 
-	switch (feature_type) {
-	case DETECT_SURF:
-		fd = &surfd;
-		break;
-	case DETECT_FAST:
-		fd = &fastd;
-		break;
-	case DETECT_STAR:
-		fd = &stard;
-		break;
-	}
+  switch (feature_type)
+  {
+    case DETECT_SURF:
+      fd = &surfd;
+      break;
+    case DETECT_FAST:
+      fd = &fastd;
+      break;
+    case DETECT_STAR:
+      fd = &stard;
+      break;
+  }
 
-	Mat greyimage;
-	pool->getGrey(input_idx, greyimage);
-	//Mat* grayimage = pool->getYUV(input_idx);
+  Mat greyimage = pool->getGrey(input_idx);
 
-	Mat* img = pool->getImage(input_idx);
+  Mat img = pool->getImage(input_idx);
 
-	if (!img || greyimage.empty() || fd == 0)
-		return; //no image at input_idx!
+  if (img.empty() || greyimage.empty() || fd == 0)
+    return; //no image at input_idx!
 
 
-	keypoints.clear();
+  keypoints.clear();
 
-	//if(grayimage->step1() > sizeof(uchar)) return;
-	//cvtColor(*img,*grayimage,CV_RGB2GRAY);
+  //if(grayimage->step1() > sizeof(uchar)) return;
+  //cvtColor(*img,*grayimage,CV_RGB2GRAY);
 
 
-	fd->detect(greyimage, keypoints);
+  fd->detect(greyimage, keypoints);
 
-	for (vector<KeyPoint>::const_iterator it = keypoints.begin(); it
-			!= keypoints.end(); ++it) {
-		circle(*img, it->pt, 3, cvScalar(255, 0, 255, 0));
-	}
+  for (vector<KeyPoint>::const_iterator it = keypoints.begin(); it != keypoints.end(); ++it)
+  {
+    circle(img, it->pt, 3, cvScalar(255, 0, 255, 0));
+  }
 
-	//pool->addImage(output_idx,outimage);
+  //pool->addImage(output_idx,outimage);
 
 }
-static double computeReprojectionErrors(
-		const vector<vector<Point3f> >& objectPoints, const vector<vector<
-				Point2f> >& imagePoints, const vector<Mat>& rvecs,
-		const vector<Mat>& tvecs, const Mat& cameraMatrix,
-		const Mat& distCoeffs, vector<float>& perViewErrors) {
-	vector<Point2f> imagePoints2;
-	int i, totalPoints = 0;
-	double totalErr = 0, err;
-	perViewErrors.resize(objectPoints.size());
-
-	for (i = 0; i < (int) objectPoints.size(); i++) {
-		projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix,
-				distCoeffs, imagePoints2);
-		err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L1 );
-		int n = (int) objectPoints[i].size();
-		perViewErrors[i] = err / n;
-		totalErr += err;
-		totalPoints += n;
-	}
-
-	return totalErr / totalPoints;
+static double computeReprojectionErrors(const vector<vector<Point3f> >& objectPoints,
+                                        const vector<vector<Point2f> >& imagePoints, const vector<Mat>& rvecs,
+                                        const vector<Mat>& tvecs, const Mat& cameraMatrix, const Mat& distCoeffs,
+                                        vector<float>& perViewErrors)
+{
+  vector<Point2f> imagePoints2;
+  int i, totalPoints = 0;
+  double totalErr = 0, err;
+  perViewErrors.resize(objectPoints.size());
+
+  for (i = 0; i < (int)objectPoints.size(); i++)
+  {
+    projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i], cameraMatrix, distCoeffs, imagePoints2);
+    err = norm(Mat(imagePoints[i]), Mat(imagePoints2), CV_L1);
+    int n = (int)objectPoints[i].size();
+    perViewErrors[i] = err / n;
+    totalErr += err;
+    totalPoints += n;
+  }
+
+  return totalErr / totalPoints;
 }
 
-static void calcChessboardCorners(Size boardSize, float squareSize, vector<
-		Point3f>& corners) {
-	corners.resize(0);
+static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners)
+{
+  corners.resize(0);
 
-	for (int i = 0; i < boardSize.height; i++)
-		for (int j = 0; j < boardSize.width; j++)
-			corners.push_back(Point3f(float(j * squareSize), float(i
-					* squareSize), 0));
+  for (int i = 0; i < boardSize.height; i++)
+    for (int j = 0; j < boardSize.width; j++)
+      corners.push_back(Point3f(float(j * squareSize), float(i * squareSize), 0));
 }
 
 /**from opencv/samples/cpp/calibration.cpp
  *
  */
-static bool runCalibration(vector<vector<Point2f> > imagePoints,
-		Size imageSize, Size boardSize, float squareSize, float aspectRatio,
-		int flags, Mat& cameraMatrix, Mat& distCoeffs, vector<Mat>& rvecs,
-		vector<Mat>& tvecs, vector<float>& reprojErrs, double& totalAvgErr) {
-	cameraMatrix = Mat::eye(3, 3, CV_64F);
-	if (flags & CV_CALIB_FIX_ASPECT_RATIO)
-		cameraMatrix.at<double> (0, 0) = aspectRatio;
+static bool runCalibration(vector<vector<Point2f> > imagePoints, Size imageSize, Size boardSize, float squareSize,
+                           float aspectRatio, int flags, Mat& cameraMatrix, Mat& distCoeffs, vector<Mat>& rvecs,
+                           vector<Mat>& tvecs, vector<float>& reprojErrs, double& totalAvgErr)
+{
+  cameraMatrix = Mat::eye(3, 3, CV_64F);
+  if (flags & CV_CALIB_FIX_ASPECT_RATIO)
+    cameraMatrix.at<double> (0, 0) = aspectRatio;
 
-	distCoeffs = Mat::zeros(5, 1, CV_64F);
+  distCoeffs = Mat::zeros(5, 1, CV_64F);
 
-	vector<vector<Point3f> > objectPoints(1);
-	calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
-	for (size_t i = 1; i < imagePoints.size(); i++)
-		objectPoints.push_back(objectPoints[0]);
+  vector<vector<Point3f> > objectPoints(1);
+  calcChessboardCorners(boardSize, squareSize, objectPoints[0]);
+  for (size_t i = 1; i < imagePoints.size(); i++)
+    objectPoints.push_back(objectPoints[0]);
 
-	calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix,
-			distCoeffs, rvecs, tvecs, flags);
+  calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs, rvecs, tvecs, flags);
 
-	bool ok = checkRange(cameraMatrix, CV_CHECK_QUIET ) && checkRange(
-			distCoeffs, CV_CHECK_QUIET );
+  bool ok = checkRange(cameraMatrix, CV_CHECK_QUIET) && checkRange(distCoeffs, CV_CHECK_QUIET);
 
-	totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints, rvecs,
-			tvecs, cameraMatrix, distCoeffs, reprojErrs);
+  totalAvgErr
+      = computeReprojectionErrors(objectPoints, imagePoints, rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
 
-	return ok;
+  return ok;
 }
 
-bool Processor::detectAndDrawChessboard(int idx,image_pool* pool) {
+bool Processor::detectAndDrawChessboard(int idx, image_pool* pool)
+{
 
-	Mat grey;
-	pool->getGrey(idx, grey);
-	if (grey.empty())
-		return false;
-	vector<Point2f> corners;
+  Mat grey = pool->getGrey(idx);
+  if (grey.empty())
+    return false;
+  vector<Point2f> corners;
 
-	IplImage iplgrey = grey;
-	if (!cvCheckChessboard(&iplgrey, Size(6, 8)))
-		return false;
-	bool patternfound = findChessboardCorners(grey, Size(6, 8), corners);
+  IplImage iplgrey = grey;
+  if (!cvCheckChessboard(&iplgrey, Size(6, 8)))
+    return false;
+  bool patternfound = findChessboardCorners(grey, Size(6, 8), corners);
 
-	Mat * img = pool->getImage(idx);
+  Mat img = pool->getImage(idx);
 
-	if (corners.size() < 1)
-		return false;
+  if (corners.size() < 1)
+    return false;
 
-	cornerSubPix(grey, corners, Size(11, 11), Size(-1, -1), TermCriteria(
-			CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
+  cornerSubPix(grey, corners, Size(11, 11), Size(-1, -1), TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
 
-	if(patternfound)
-		imagepoints.push_back(corners);
+  if (patternfound)
+    imagepoints.push_back(corners);
 
-	drawChessboardCorners(*img, Size(6, 8), Mat(corners), patternfound);
+  drawChessboardCorners(img, Size(6, 8), Mat(corners), patternfound);
 
-	imgsize = grey.size();
+  imgsize = grey.size();
 
-	return patternfound;
+  return patternfound;
 
 }
 
-void Processor::drawText(int i, image_pool* pool, const char* ctext){
-	// Use "y" to show that the baseLine is about
-	string text = ctext;
-	int fontFace = FONT_HERSHEY_COMPLEX_SMALL;
-	double fontScale = .8;
-	int thickness = .5;
-
-	Mat img = *pool->getImage(i);
-
-	int baseline=0;
-	Size textSize = getTextSize(text, fontFace,
-	                            fontScale, thickness, &baseline);
-	baseline += thickness;
-
-	// center the text
-	Point textOrg((img.cols - textSize.width)/2,
-	              (img.rows - textSize.height *2));
-
-	// draw the box
-	rectangle(img, textOrg + Point(0, baseline),
-	          textOrg + Point(textSize.width, -textSize.height),
-	          Scalar(0,0,255),CV_FILLED);
-	// ... and the baseline first
-	line(img, textOrg + Point(0, thickness),
-	     textOrg + Point(textSize.width, thickness),
-	     Scalar(0, 0, 255));
-
-	// then put the text itself
-	putText(img, text, textOrg, fontFace, fontScale,
-	        Scalar::all(255), thickness, 8);
+void Processor::drawText(int i, image_pool* pool, const char* ctext)
+{
+  // Use "y" to show that the baseLine is about
+  string text = ctext;
+  int fontFace = FONT_HERSHEY_COMPLEX_SMALL;
+  double fontScale = .8;
+  int thickness = .5;
+
+  Mat img = pool->getImage(i);
+
+  int baseline = 0;
+  Size textSize = getTextSize(text, fontFace, fontScale, thickness, &baseline);
+  baseline += thickness;
+
+  // center the text
+  Point textOrg((img.cols - textSize.width) / 2, (img.rows - textSize.height * 2));
+
+  // draw the box
+  rectangle(img, textOrg + Point(0, baseline), textOrg + Point(textSize.width, -textSize.height), Scalar(0, 0, 255),
+            CV_FILLED);
+  // ... and the baseline first
+  line(img, textOrg + Point(0, thickness), textOrg + Point(textSize.width, thickness), Scalar(0, 0, 255));
+
+  // then put the text itself
+  putText(img, text, textOrg, fontFace, fontScale, Scalar::all(255), thickness, 8);
 }
-void saveCameraParams(const string& filename, Size imageSize, Size boardSize,
-		float squareSize, float aspectRatio, int flags,
-		const Mat& cameraMatrix, const Mat& distCoeffs,
-		const vector<Mat>& rvecs, const vector<Mat>& tvecs,
-		const vector<float>& reprojErrs,
-		const vector<vector<Point2f> >& imagePoints, double totalAvgErr) {
-	FileStorage fs(filename, FileStorage::WRITE);
-
-	time_t t;
-	time(&t);
-	struct tm *t2 = localtime(&t);
-	char buf[1024];
-	strftime(buf, sizeof(buf) - 1, "%c", t2);
-
-	fs << "calibration_time" << buf;
-
-	if (!rvecs.empty() || !reprojErrs.empty())
-		fs << "nframes" << (int) std::max(rvecs.size(), reprojErrs.size());
-	fs << "image_width" << imageSize.width;
-	fs << "image_height" << imageSize.height;
-	fs << "board_width" << boardSize.width;
-	fs << "board_height" << boardSize.height;
-	fs << "squareSize" << squareSize;
-
-	if (flags & CV_CALIB_FIX_ASPECT_RATIO)
-		fs << "aspectRatio" << aspectRatio;
-
-	if (flags != 0) {
-		sprintf(buf, "flags: %s%s%s%s",
-				flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess"
-						: "",
-				flags & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
-				flags & CV_CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point"
-						: "",
-				flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
-		cvWriteComment(*fs, buf, 0);
-	}
-
-	fs << "flags" << flags;
-
-	fs << "camera_matrix" << cameraMatrix;
-	fs << "distortion_coefficients" << distCoeffs;
-
-	fs << "avg_reprojection_error" << totalAvgErr;
-	if (!reprojErrs.empty())
-		fs << "per_view_reprojection_errors" << Mat(reprojErrs);
-
-	if (!rvecs.empty() && !tvecs.empty()) {
-		Mat bigmat(rvecs.size(), 6, CV_32F);
-		for (size_t i = 0; i < rvecs.size(); i++) {
-			Mat r = bigmat(Range(i, i + 1), Range(0, 3));
-			Mat t = bigmat(Range(i, i + 1), Range(3, 6));
-			rvecs[i].copyTo(r);
-			tvecs[i].copyTo(t);
-		}
-		cvWriteComment(
-				*fs,
-				"a set of 6-tuples (rotation vector + translation vector) for each view",
-				0);
-		fs << "extrinsic_parameters" << bigmat;
-	}
-
-	if (!imagePoints.empty()) {
-		Mat imagePtMat(imagePoints.size(), imagePoints[0].size(), CV_32FC2);
-		for (size_t i = 0; i < imagePoints.size(); i++) {
-			Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
-			Mat(imagePoints[i]).copyTo(r);
-		}
-		fs << "image_points" << imagePtMat;
-	}
+void saveCameraParams(const string& filename, Size imageSize, Size boardSize, float squareSize, float aspectRatio,
+                      int flags, const Mat& cameraMatrix, const Mat& distCoeffs, const vector<Mat>& rvecs,
+                      const vector<Mat>& tvecs, const vector<float>& reprojErrs,
+                      const vector<vector<Point2f> >& imagePoints, double totalAvgErr)
+{
+  FileStorage fs(filename, FileStorage::WRITE);
+
+  time_t t;
+  time(&t);
+  struct tm *t2 = localtime(&t);
+  char buf[1024];
+  strftime(buf, sizeof(buf) - 1, "%c", t2);
+
+  fs << "calibration_time" << buf;
+
+  if (!rvecs.empty() || !reprojErrs.empty())
+    fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
+  fs << "image_width" << imageSize.width;
+  fs << "image_height" << imageSize.height;
+  fs << "board_width" << boardSize.width;
+  fs << "board_height" << boardSize.height;
+  fs << "squareSize" << squareSize;
+
+  if (flags & CV_CALIB_FIX_ASPECT_RATIO)
+    fs << "aspectRatio" << aspectRatio;
+
+  if (flags != 0)
+  {
+    sprintf(buf, "flags: %s%s%s%s", flags & CV_CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "", flags
+        & CV_CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "", flags & CV_CALIB_FIX_PRINCIPAL_POINT
+        ? "+fix_principal_point" : "", flags & CV_CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
+    cvWriteComment(*fs, buf, 0);
+  }
+
+  fs << "flags" << flags;
+
+  fs << "camera_matrix" << cameraMatrix;
+  fs << "distortion_coefficients" << distCoeffs;
+
+  fs << "avg_reprojection_error" << totalAvgErr;
+  if (!reprojErrs.empty())
+    fs << "per_view_reprojection_errors" << Mat(reprojErrs);
+
+  if (!rvecs.empty() && !tvecs.empty())
+  {
+    Mat bigmat(rvecs.size(), 6, CV_32F);
+    for (size_t i = 0; i < rvecs.size(); i++)
+    {
+      Mat r = bigmat(Range(i, i + 1), Range(0, 3));
+      Mat t = bigmat(Range(i, i + 1), Range(3, 6));
+      rvecs[i].copyTo(r);
+      tvecs[i].copyTo(t);
+    }
+    cvWriteComment(*fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0);
+    fs << "extrinsic_parameters" << bigmat;
+  }
+
+  if (!imagePoints.empty())
+  {
+    Mat imagePtMat(imagePoints.size(), imagePoints[0].size(), CV_32FC2);
+    for (size_t i = 0; i < imagePoints.size(); i++)
+    {
+      Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
+      Mat(imagePoints[i]).copyTo(r);
+    }
+    fs << "image_points" << imagePtMat;
+  }
 }
-void Processor::resetChess() {
+void Processor::resetChess()
+{
 
-	imagepoints.clear();
+  imagepoints.clear();
 }
 
-void Processor::calibrate(const char* filename) {
-
-	vector<Mat> rvecs, tvecs;
-	vector<float> reprojErrs;
-	double totalAvgErr = 0;
-	int flags = 0;
-	bool writeExtrinsics = true;
-	bool writePoints = true;
+void Processor::calibrate(const char* filename)
+{
 
-	bool ok = runCalibration(imagepoints, imgsize, Size(6, 8), 1.f, 1.f,
-			flags, K, distortion, rvecs, tvecs, reprojErrs, totalAvgErr);
+  vector<Mat> rvecs, tvecs;
+  vector<float> reprojErrs;
+  double totalAvgErr = 0;
+  int flags = 0;
+  bool writeExtrinsics = true;
+  bool writePoints = true;
 
+  bool ok = runCalibration(imagepoints, imgsize, Size(6, 8), 1.f, 1.f, flags, K, distortion, rvecs, tvecs, reprojErrs,
+                           totalAvgErr);
 
-	if (ok){
+  if (ok)
+  {
 
-		saveCameraParams(filename, imgsize, Size(6, 8), 1.f,
-				1.f, flags, K, distortion, writeExtrinsics ? rvecs
-						: vector<Mat> (), writeExtrinsics ? tvecs
-						: vector<Mat> (), writeExtrinsics ? reprojErrs
-						: vector<float> (), writePoints ? imagepoints : vector<
-						vector<Point2f> > (), totalAvgErr);
-	}
+    saveCameraParams(filename, imgsize, Size(6, 8), 1.f, 1.f, flags, K, distortion, writeExtrinsics ? rvecs : vector<
+        Mat> (), writeExtrinsics ? tvecs : vector<Mat> (), writeExtrinsics ? reprojErrs : vector<float> (), writePoints
+        ? imagepoints : vector<vector<Point2f> > (), totalAvgErr);
+  }
 
 }
 
-int Processor::getNumberDetectedChessboards() {
-	return imagepoints.size();
+int Processor::getNumberDetectedChessboards()
+{
+  return imagepoints.size();
 }

android/apps/CVCamera/jni/Processor.h

@@ -14,8 +14,6 @@
 #include <opencv2/imgproc/imgproc.hpp>
 #include <opencv2/calib3d/calib3d.hpp>
 
-
-
 #include <vector>
 
 #include "image_pool.h"
@@ -24,36 +22,34 @@
 #define DETECT_STAR 1
 #define DETECT_SURF 2
 
-class Processor {
-
-	cv::StarFeatureDetector stard;
-	cv::FastFeatureDetector fastd;
-	cv::SurfFeatureDetector surfd;
-	std::vector<cv::KeyPoint> keypoints;
-
-	vector<vector<Point2f> > imagepoints;
-
-	cv::Mat K;
-	cv::Mat distortion;
-	cv::Size imgsize;
-	//image_pool pool;
+class Processor
+{
 public:
 
-	Processor();
-	virtual ~Processor();
-	
-	void detectAndDrawFeatures(int idx, image_pool* pool, int feature_type);
+  Processor();
+  virtual ~Processor();
+
+  void detectAndDrawFeatures(int idx, image_pool* pool, int feature_type);
 
-	bool detectAndDrawChessboard(int idx,image_pool* pool);
+  bool detectAndDrawChessboard(int idx, image_pool* pool);
 
-	void resetChess();
+  void resetChess();
 
-	int getNumberDetectedChessboards();
+  int getNumberDetectedChessboards();
 
-	void calibrate(const char* filename);
+  void calibrate(const char* filename);
 
-	void drawText(int idx, image_pool* pool, const char* text);
+  void drawText(int idx, image_pool* pool, const char* text);
+private:
+  cv::StarFeatureDetector stard;
+  cv::FastFeatureDetector fastd;
+  cv::SurfFeatureDetector surfd;
+  std::vector<cv::KeyPoint> keypoints;
+  std::vector<std::vector<cv::Point2f> > imagepoints;
 
+  cv::Mat K;
+  cv::Mat distortion;
+  cv::Size imgsize;
 
 };
 

android/apps/CVCamera/sample.local.env.mk

 #location of android-opencv port of OpenCV to android
 OPENCV_CONFIG=../../build/android-opencv.mk
 ANDROID_NDK_ROOT=$(HOME)/android-ndk-r4-crystax
-
+ARM_TARGETS=armeabi armeabi-v7a

android/apps/CVCamera/src/com/theveganrobot/cvcamera/CVCamera.java

@@ -10,6 +10,7 @@ import android.app.AlertDialog;
 import android.app.Dialog;
 import android.app.ProgressDialog;
 import android.content.DialogInterface;
+import android.content.Intent;
 import android.content.pm.ActivityInfo;
 import android.os.Bundle;
 import android.os.Environment;
@@ -20,16 +21,16 @@ import android.view.Menu;
 import android.view.MenuItem;
 import android.view.MotionEvent;
 import android.view.View;
+import android.view.ViewGroup.LayoutParams;
 import android.view.Window;
 import android.view.WindowManager;
-import android.view.ViewGroup.LayoutParams;
-import android.widget.AnalogClock;
 import android.widget.Button;
 import android.widget.FrameLayout;
 import android.widget.ImageButton;
 import android.widget.LinearLayout;
 import android.widget.Toast;
 
+import com.opencv.camera.CameraConfig;
 import com.opencv.camera.NativePreviewer;
 import com.opencv.camera.NativeProcessor;
 import com.opencv.camera.NativeProcessor.PoolCallback;
@@ -77,12 +78,11 @@ public class CVCamera extends Activity {
 					Toast.LENGTH_LONG).show();
 			break;
 		case DIALOG_TUTORIAL_CHESS:
-			Toast
-					.makeText(
-							this,
-							"Calibration Mode, Point at a chessboard pattern and press the camera button, space,"
-									+ "or the DPAD to capture.",
-							Toast.LENGTH_LONG).show();
+			Toast.makeText(
+					this,
+					"Calibration Mode, Point at a chessboard pattern and press the camera button, space,"
+							+ "or the DPAD to capture.", Toast.LENGTH_LONG)
+					.show();
 			break;
 
 		default:
@@ -110,8 +110,9 @@ public class CVCamera extends Activity {
 
 	private Dialog makeCalibFileAlert() {
 		AlertDialog.Builder builder = new AlertDialog.Builder(this);
-		builder.setMessage(calib_text).setTitle(
-				"camera.yml at " + calib_file_loc).setCancelable(false)
+		builder.setMessage(calib_text)
+				.setTitle("camera.yml at " + calib_file_loc)
+				.setCancelable(false)
 				.setPositiveButton("Ok", new DialogInterface.OnClickListener() {
 					public void onClick(DialogInterface dialog, int id) {
 
@@ -187,6 +188,7 @@ public class CVCamera extends Activity {
 		menu.add("STAR");
 		menu.add("SURF");
 		menu.add("Chess");
+		menu.add("Settings");
 		return true;
 	}
 
@@ -224,7 +226,14 @@ public class CVCamera extends Activity {
 
 		}
 
+		else if (item.getTitle().equals("Settings")) {
+
+			Intent intent = new Intent(this,CameraConfig.class);
+			startActivity(intent);
+		}
+
 		mPreview.addCallbackStack(defaultcallbackstack);
+		
 		return true;
 	}
 
@@ -234,7 +243,6 @@ public class CVCamera extends Activity {
 		super.onOptionsMenuClosed(menu);
 	}
 
-	
 	@Override
 	protected void onCreate(Bundle savedInstanceState) {
 		super.onCreate(savedInstanceState);
@@ -263,53 +271,54 @@ public class CVCamera extends Activity {
 
 		glview = new GL2CameraViewer(getApplication(), false, 0, 0);
 		glview.setZOrderMediaOverlay(true);
-		glview.setLayoutParams(new LayoutParams(LayoutParams.FILL_PARENT,
-				LayoutParams.FILL_PARENT));
-		
+
+		LinearLayout gllay = new LinearLayout(getApplication());
+
+		gllay.setGravity(Gravity.CENTER);
+		gllay.addView(glview, params);
+		frame.addView(gllay);
+
 		ImageButton capture_button = new ImageButton(getApplicationContext());
-		capture_button.setImageDrawable(getResources().getDrawable(android.R.drawable.ic_menu_camera));
-		capture_button.setLayoutParams(new LayoutParams(LayoutParams.WRAP_CONTENT,
-				LayoutParams.WRAP_CONTENT));
+		capture_button.setImageDrawable(getResources().getDrawable(
+				android.R.drawable.ic_menu_camera));
+		capture_button.setLayoutParams(new LayoutParams(
+				LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT));
 		capture_button.setOnClickListener(new View.OnClickListener() {
-			
-			
+
 			@Override
 			public void onClick(View v) {
 				captureChess = true;
-				
+
 			}
 		});
-		
+
 		LinearLayout buttons = new LinearLayout(getApplicationContext());
 		buttons.setLayoutParams(new LayoutParams(LayoutParams.WRAP_CONTENT,
 				LayoutParams.WRAP_CONTENT));
-	
+
 		buttons.addView(capture_button);
-		
+
 		Button focus_button = new Button(getApplicationContext());
-		focus_button.setLayoutParams(new LayoutParams(LayoutParams.WRAP_CONTENT,
-				LayoutParams.WRAP_CONTENT));
+		focus_button.setLayoutParams(new LayoutParams(
+				LayoutParams.WRAP_CONTENT, LayoutParams.WRAP_CONTENT));
 		focus_button.setText("Focus");
 		focus_button.setOnClickListener(new View.OnClickListener() {
-			
+
 			@Override
 			public void onClick(View v) {
 				mPreview.postautofocus(100);
 			}
 		});
 		buttons.addView(focus_button);
-		
-		frame.addView(glview);
 
 		frame.addView(buttons);
 		setContentView(frame);
 		toasts(DIALOG_OPENING_TUTORIAL);
-
 	}
 
 	@Override
 	public boolean onTrackballEvent(MotionEvent event) {
-		if(event.getAction() == MotionEvent.ACTION_UP){
+		if (event.getAction() == MotionEvent.ACTION_UP) {
 			captureChess = true;
 			return true;
 		}
@@ -320,8 +329,7 @@ public class CVCamera extends Activity {
 	protected void onPause() {
 		super.onPause();
 
-		
-		//clears the callback stack
+		// clears the callback stack
 		mPreview.onPause();
 
 		glview.onPause();
@@ -332,9 +340,9 @@ public class CVCamera extends Activity {
 	protected void onResume() {
 		super.onResume();
 		glview.onResume();
-		
-		//add an initiall callback stack to the preview on resume...
-		//this one will just draw the frames to opengl
+		mPreview.setParamsFromPrefs(getApplicationContext());
+		// add an initiall callback stack to the preview on resume...
+		// this one will just draw the frames to opengl
 		LinkedList<NativeProcessor.PoolCallback> cbstack = new LinkedList<PoolCallback>();
 		cbstack.add(glview.getDrawCallback());
 		mPreview.addCallbackStack(cbstack);
@@ -362,7 +370,6 @@ public class CVCamera extends Activity {
 		public void process(int idx, image_pool pool, long timestamp,
 				NativeProcessor nativeProcessor) {
 			processor.detectAndDrawFeatures(idx, pool, cvcamera.DETECT_STAR);
-			
 
 		}
 
@@ -396,8 +403,8 @@ public class CVCamera extends Activity {
 			}
 			if (processor.getNumberDetectedChessboards() == 10) {
 
-				File opencvdir = new File(Environment
-						.getExternalStorageDirectory(), "opencv");
+				File opencvdir = new File(
+						Environment.getExternalStorageDirectory(), "opencv");
 				if (!opencvdir.exists()) {
 					opencvdir.mkdir();
 				}
@@ -486,9 +493,9 @@ public class CVCamera extends Activity {
 			}
 			if (processor.getNumberDetectedChessboards() < 10) {
 
-				processor.drawText(idx, pool, "found "
-						+ processor.getNumberDetectedChessboards()
-						+ "/10 chessboards");
+				processor.drawText(idx, pool,
+						"found " + processor.getNumberDetectedChessboards()
+								+ "/10 chessboards");
 			}
 
 		}