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Moving camera functionallity to its own App.
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‎AndroidManifest.xml

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<?xml version="1.0" encoding="utf-8"?>
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<manifest xmlns:android="http://schemas.android.com/apk/res/android"
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package="org.chadrockey.android.android_camera_driver"
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android:versionCode="1"
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android:versionName="1.0" >
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<uses-sdk android:minSdkVersion="13" />
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<uses-permission android:name="android.permission.ACCESS_WIFI_STATE" />
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<uses-permission android:name="android.permission.CAMERA" />
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<uses-permission android:name="android.permission.CHANGE_WIFI_STATE" />
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<uses-permission android:name="android.permission.INTERNET" />
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<uses-permission android:name="android.permission.WAKE_LOCK" />
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<uses-permission android:name="android.permission.WRITE_EXTERNAL_STORAGE" />
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<uses-permission android:name="android.permission.ACCESS_FINE_LOCATION" />
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<application
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android:icon="@drawable/icon"
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android:label="@string/app_name">
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<!-- android:debuggable="true" -->
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<activity
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android:name="org.chadrockey.android.android_camera_driver.MainActivity"
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android:configChanges="orientation|keyboardHidden"
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android:label="@string/app_name"
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android:screenOrientation="landscape" >
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<intent-filter>
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<action android:name="android.intent.action.MAIN" />
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<category android:name="android.intent.category.LAUNCHER" />
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</intent-filter>
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</activity>
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<activity android:name="org.ros.android.MasterChooser" />
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<service android:name="org.ros.android.NodeMainExecutorService" />
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</application>
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</manifest>

‎README

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Authors:
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[email protected] (Chad Rockey)
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[email protected] (Axel Furlan)
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This is an extension to the first version of the Ros Android Sensors Driver.
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It extends the driver to camera readings and updates the previous version to the post-gradle shift of the rosjava libs.
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Two compression methods are currently supported, PNG and JPEG (with selectable compression quality).
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The topic names are:
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/camera/camera_info
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/camera/image/compressed
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Compiling:
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To compile it on you machine, please follow the detailed instructions at:
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Rosjava:
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http://www.dobots.nl/blog/-/blogs/android-and-rosjava
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Android OpenCV:
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http://docs.opencv.org/doc/tutorials/introduction/android_binary_package/android_binary_package.html
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Once your environment is set, do the following steps:
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1) git clone the repo in the android_core folder (the same folder where tutorials are).
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2) Edit the settings.gradle file in the android_core folder, adding 'android_sensors_driver' at the end of the include list.
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3) cd android_sensors_driver; ../gradlew clean debug
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Install the appropriate OpenCV from Google Play.
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For the whole process of building, packing, installing into the phone and running the app in debug mode, use the buildAll.sh script.
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Known issues:
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1) The code for raw images is also written, although the funcion is currently disabled due to OutOfMemory exceptions and lack of time to debug them. Any help is welcome.
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2) A better UI would be needed, e.g. to set camera parameters (now everything is fixed at 640x480, far focus, ecc.)

‎build.gradle

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/*
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* Copyright (C) 2011 Google Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License"); you may not
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* use this file except in compliance with the License. You may obtain a copy of
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* the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations under
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* the License.
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*/
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dependencies {
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compile 'ros.rosjava_core:rosjava_tutorial_pubsub:0.0.0-SNAPSHOT'
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}
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debug.dependsOn project(':android_gingerbread_mr1').tasks.debug
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‎build.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<project name="MainActivity" default="help">
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<!-- The local.properties file is created and updated by the 'android' tool.
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It contains the path to the SDK. It should *NOT* be checked into
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Version Control Systems. -->
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<property file="local.properties" />
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<!-- The ant.properties file can be created by you. It is only edited by the
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'android' tool to add properties to it.
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This is the place to change some Ant specific build properties.
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Here are some properties you may want to change/update:
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source.dir
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The name of the source directory. Default is 'src'.
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out.dir
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The name of the output directory. Default is 'bin'.
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For other overridable properties, look at the beginning of the rules
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files in the SDK, at tools/ant/build.xml
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Properties related to the SDK location or the project target should
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be updated using the 'android' tool with the 'update' action.
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This file is an integral part of the build system for your
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application and should be checked into Version Control Systems.
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-->
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<property file="ant.properties" />
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<!-- The project.properties file is created and updated by the 'android'
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tool, as well as ADT.
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This contains project specific properties such as project target, and library
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dependencies. Lower level build properties are stored in ant.properties
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(or in .classpath for Eclipse projects).
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This file is an integral part of the build system for your
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application and should be checked into Version Control Systems. -->
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<loadproperties srcFile="project.properties" />
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<!-- quick check on sdk.dir -->
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<fail
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message="sdk.dir is missing. Make sure to generate local.properties using 'android update project' or to inject it through an env var"
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unless="sdk.dir"
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/>
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<!--
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Import per project custom build rules if present at the root of the project.
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This is the place to put custom intermediary targets such as:
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-pre-build
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-pre-compile
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-post-compile (This is typically used for code obfuscation.
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Compiled code location: ${out.classes.absolute.dir}
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If this is not done in place, override ${out.dex.input.absolute.dir})
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-post-package
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-post-build
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-pre-clean
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-->
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<import file="custom_rules.xml" optional="true" />
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<!-- Import the actual build file.
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To customize existing targets, there are two options:
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- Customize only one target:
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- copy/paste the target into this file, *before* the
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<import> task.
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- customize it to your needs.
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- Customize the whole content of build.xml
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- copy/paste the content of the rules files (minus the top node)
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into this file, replacing the <import> task.
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- customize to your needs.
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***********************
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****** IMPORTANT ******
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***********************
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In all cases you must update the value of version-tag below to read 'custom' instead of an integer,
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in order to avoid having your file be overridden by tools such as "android update project"
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-->
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<!-- version-tag: 1 -->
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<import file="${sdk.dir}/tools/ant/build.xml" />
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</project>

‎buildAll.sh

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# Bash
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../gradlew clean debug
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if [ $? -eq 0 ]
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then
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adb uninstall org.chadrockey.android.android_camera_driver
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adb install bin/MainActivity-debug.apk
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adb shell am start -n org.chadrockey.android.android_camera_driver/org.chadrockey.android.android_camera_driver.MainActivity
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adb logcat -c
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adb logcat
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fi

‎local.properties

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# This file is automatically generated by Android Tools.
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# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
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#
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# This file must *NOT* be checked into Version Control Systems,
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# as it contains information specific to your local configuration.
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# location of the SDK. This is only used by Ant
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# For customization when using a Version Control System, please read the
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# header note.
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sdk.dir=/home/willow/NVPACK/android-sdk-linux

‎mainpage.dox

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/**
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\mainpage
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\htmlinclude manifest.html
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\b android_camera_driver is ...
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<!--
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Provide an overview of your package.
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-->
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\section codeapi Code API
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<!--
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Provide links to specific auto-generated API documentation within your
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package that is of particular interest to a reader. Doxygen will
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document pretty much every part of your code, so do your best here to
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point the reader to the actual API.
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If your codebase is fairly large or has different sets of APIs, you
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should use the doxygen 'group' tag to keep these APIs together. For
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example, the roscpp documentation has 'libros' group.
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-->
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*/

‎manifest.xml

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<package>
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<description brief="android_camera_driver">
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android_camera_driver
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</description>
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<author>Chad Rockey ([email protected])</author>
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<license>Apache 2.0</license>
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<review status="unreviewed" notes="" />
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<url>http://ros.org/wiki/android_camera_driver</url>
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</package>

‎proguard-project.txt

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# To enable ProGuard in your project, edit project.properties
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# to define the proguard.config property as described in that file.
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#
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# Add project specific ProGuard rules here.
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# By default, the flags in this file are appended to flags specified
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# in ${sdk.dir}/tools/proguard/proguard-android.txt
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# You can edit the include path and order by changing the ProGuard
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# include property in project.properties.
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#
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# For more details, see
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# http://developer.android.com/guide/developing/tools/proguard.html
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# Add any project specific keep options here:
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# If your project uses WebView with JS, uncomment the following
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# and specify the fully qualified class name to the JavaScript interface
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# class:
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#-keepclassmembers class fqcn.of.javascript.interface.for.webview {
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# public *;
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#}

‎project.properties

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# This file is automatically generated by Android Tools.
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# Do not modify this file -- YOUR CHANGES WILL BE ERASED!
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#
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# This file must be checked in Version Control Systems.
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#
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# To customize properties used by the Ant build system use,
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# "ant.properties", and override values to adapt the script to your
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# project structure.
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# Project target.
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target=android-13
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#android.library=true
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android.library.reference.1=../android_gingerbread_mr1
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android.library.reference.2=../../OpenCV-2.4.2-android-sdk/sdk/java

‎res/layout/main.xml

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<?xml version="1.0" encoding="utf-8"?>
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<LinearLayout xmlns:android="http://schemas.android.com/apk/res/android"
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android:layout_width="fill_parent"
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android:layout_height="fill_parent"
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android:orientation="vertical" >
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<org.ros.android.view.camera.RosCameraPreviewView
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android:id="@+id/ros_camera_preview_view"
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android:layout_width="fill_parent"
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android:layout_height="fill_parent" />
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<org.ros.android.view.RosTextView
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android:id="@+id/text"
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android:layout_width="fill_parent"
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android:layout_height="wrap_content"
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android:textSize="30dip" />
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</LinearLayout>

‎res/values/strings.xml

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<?xml version="1.0" encoding="utf-8"?>
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<resources>
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<string name="app_name">ROS Android Camera Driver</string>
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</resources>

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