hough detectors, lines and circles

svn path=/trunk/externals/pdp_opencv/; revision=12059

2 files changed, 410 insertions, 0 deletions

diff --git a/pdp_opencv_hough_circles-help.pd b/pdp_opencv_hough_circles-help.pd
new file mode 100644
index 0000000..32b0702
--- /dev/null
+++ b/pdp_opencv_hough_circles-help.pd
@@ -0,0 +1,114 @@
+#N canvas 363 49 833 785 10;
+#X text -13 -95 written by Lluis Gomez i Bigorda ( lluisgomez@hangar.org
+) and Yves Degoyon ( ydegoyon@gmail.com );
+#X obj -17 -55 cnv 15 621 250 empty empty empty 20 12 0 14 -260097
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+#X obj 223 12 metro 40;
+#X msg 313 39 close;
+#X obj 243 110 pdp_v4l;
+#X msg 300 7 open /dev/video0;
+#X obj 412 -20 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X obj 412 7 metro 40;
+#X msg 493 26 close;
+#X msg 489 2 open /dev/video0;
+#X obj 433 106 pdp_v4l2;
+#X msg 498 81 format \$1;
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+-1 0;
+#X obj 13 160 pdp_qt;
+#X obj 46 96 metro 40;
+#X msg 46 68 bang;
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+#X text 56 -26 playing a video file;
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+1;
+#X msg 118 407 nightmode \$1;
+#X text 222 410 set nightmode;
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+#X floatatom 140 514 5 0 0 0 - - -;
+#X floatatom 176 515 5 0 0 0 - - -;
+#X obj 140 474 route 1 2 3 4 5 6 7 8 9 10;
+#X text 143 528 X1;
+#X text 179 528 Y1;
+#X floatatom 213 515 5 0 0 0 - - -;
+#X msg 64 240 threshold \$1;
+#X floatatom 183 320 5 0 0 0 - - -;
+#X floatatom 199 357 5 0 0 0 - - -;
+#X obj 13 621 pdp_xv;
+#X floatatom 124 214 5 0 0 0 - - -;
+#X msg 34 213 maxcircles \$1;
+#X text 164 213 maximum nuber of circles detected ( default : 10 )
+;
+#X floatatom 160 271 5 0 0 0 - - -;
+#X msg 71 267 threshold2 \$1;
+#X text 199 283 see documentation of cvHoughCircles for the meaning
+of thresholds;
+#X text -13 -110 pdp_opencv_hough_circles : Hough circles detection
+algorithm;
+#X msg 97 319 mindist \$1;
+#X text 220 318 minimum distance between circles ( default : 30 );
+#X msg 99 355 resolution \$1;
+#X text 242 356 detector resolution ( default 1 );
+#X text 309 474 position of each circle;
+#X text 216 529 radius;
+#X obj 140 495 unpack f f f;
+#X obj 12 442 pdp_opencv_hough_circles;
+#X text 192 239 threshold ( default 100 );
+#X text 199 266 threshold2 ( default 10 );
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diff --git a/pdp_opencv_hough_circles.cc b/pdp_opencv_hough_circles.cc
new file mode 100644
index 0000000..78e0523
--- /dev/null
+++ b/pdp_opencv_hough_circles.cc
@@ -0,0 +1,296 @@
+/*
+ *   Pure Data Packet module.
+ *   Copyright (c) by Tom Schouten <pdp@zzz.kotnet.org>
+ *
+ *   This program is free software; you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation; either version 2 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with this program; if not, write to the Free Software
+ *   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <dirent.h>
+#include <limits.h>
+#include <dlfcn.h>
+#include <ctype.h>
+
+#include "pdp.h"
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+#define MAX_MARKERS 500
+const int MAX_COUNT = 500;
+
+typedef struct pdp_opencv_hough_circles_struct
+{
+  t_object x_obj;
+  t_float x_f;
+
+  t_outlet *x_outlet0;
+  t_outlet *x_outlet1;
+  t_atom x_list[4];
+
+  int x_packet0;
+  int x_packet1;
+  int x_dropped;
+  int x_queue_id;
+
+  int x_width;
+  int x_height;
+  int x_size;
+
+  // The output and temporary images
+  IplImage *image, *grey;
+  
+  int x_threshold;
+  int x_threshold2;
+  int x_maxcircles;
+  double x_mindist;
+  double x_resolution;
+  int night_mode;
+  CvFont font;
+  CvMemStorage* x_storage;
+  CvSeq* x_circles;
+    
+} t_pdp_opencv_hough_circles;
+
+static void pdp_opencv_hough_circles_process_rgb(t_pdp_opencv_hough_circles *x)
+{
+    t_pdp     *header = pdp_packet_header(x->x_packet0);
+    short int *data   = (short int *)pdp_packet_data(x->x_packet0);
+    t_pdp     *newheader = pdp_packet_header(x->x_packet1);
+    short int *newdata = (short int *)pdp_packet_data(x->x_packet1); 
+    int i,j,k,ucircles;
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height) || (!x->image)) 
+    {
+
+      post("pdp_opencv_hough_circles :: resizing plugins");
+  
+      x->x_width = header->info.image.width;
+      x->x_height = header->info.image.height;
+      x->x_size = x->x_width*x->x_height;
+    
+      //Destroy cv_images
+      cvReleaseImage( &x->image );
+      cvReleaseImage( &x->grey );
+   
+      //Create cv_images 
+      x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+      x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+    }
+    
+    newheader->info.image.encoding = header->info.image.encoding;
+    newheader->info.image.width = x->x_width;
+    newheader->info.image.height = x->x_height;
+
+    memcpy( newdata, data, x->x_size*3 );
+    
+    memcpy( x->image->imageData, data, x->x_size*3 );
+        
+    cvCvtColor( x->image, x->grey, CV_RGB2GRAY );
+
+    if( x->night_mode )
+        cvZero( x->image );
+        
+    x->x_storage = cvCreateMemStorage(0);
+
+    cvSmooth( x->grey, x->grey, CV_GAUSSIAN, 9, 9 );
+    CvSeq* circles = cvHoughCircles( x->grey, x->x_storage, CV_HOUGH_GRADIENT, x->x_resolution, x->x_mindist, x->x_threshold, x->x_threshold2 );
+    ucircles = (circles->total>x->x_maxcircles)?x->x_maxcircles:circles->total;
+    for( i = 0; i < ucircles; i++ )
+    {
+       float* p = (float*)cvGetSeqElem( circles, i );
+       char tindex[10];
+       cvCircle( x->image, cvPoint(cvRound(p[0]),cvRound(p[1])), 3, CV_RGB(0,255,0), -1, 8, 0 );
+       cvCircle( x->image, cvPoint(cvRound(p[0]),cvRound(p[1])), cvRound(p[2]), CV_RGB(255,0,0), 3, 8, 0 );
+       SETFLOAT(&x->x_list[0], i);
+       SETFLOAT(&x->x_list[1], cvRound(p[0]));
+       SETFLOAT(&x->x_list[2], cvRound(p[1]));
+       SETFLOAT(&x->x_list[3], cvRound(p[2]));
+       outlet_list( x->x_outlet1, 0, 4, x->x_list );
+       sprintf( tindex, "%d", i );
+       cvPutText( x->image, tindex, cvPoint(cvRound(p[0]),cvRound(p[1])), &x->font, CV_RGB(255,255,255));
+    }
+
+    cvReleaseMemStorage( &x->x_storage ); 
+
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+    return;
+}
+
+static void pdp_opencv_hough_circles_nightmode(t_pdp_opencv_hough_circles *x, t_floatarg fmode)
+{
+  if ((fmode==0.0)||(fmode==1.0)) x->night_mode = (int)fmode;
+}
+
+static void pdp_opencv_hough_circles_threshold(t_pdp_opencv_hough_circles *x, t_floatarg fthresh)
+{
+  if (fthresh>0.0) x->x_threshold = (int)fthresh;
+}
+
+static void pdp_opencv_hough_circles_threshold2(t_pdp_opencv_hough_circles *x, t_floatarg fthresh)
+{
+  if (fthresh>0.0) x->x_threshold2 = (int)fthresh;
+}
+
+static void pdp_opencv_hough_circles_mindist(t_pdp_opencv_hough_circles *x, t_floatarg fdist)
+{
+  if (fdist>0.0) x->x_mindist = (double)fdist;
+}
+
+static void pdp_opencv_hough_circles_maxcircles(t_pdp_opencv_hough_circles *x, t_floatarg fmaxcircles)
+{
+  if (fmaxcircles>0.0) x->x_maxcircles = (int)fmaxcircles;
+}
+
+static void pdp_opencv_hough_circles_resolution(t_pdp_opencv_hough_circles *x, t_floatarg fresol)
+{
+  if (fresol>0.0) x->x_resolution = (double)fresol;
+}
+
+static void pdp_opencv_hough_circles_sendpacket(t_pdp_opencv_hough_circles *x)
+{
+  /* release the packet */
+  pdp_packet_mark_unused(x->x_packet0);
+  x->x_packet0 = -1;
+
+  /* unregister and propagate if valid dest packet */
+  pdp_packet_pass_if_valid(x->x_outlet0, &x->x_packet1);
+}
+
+static void pdp_opencv_hough_circles_process(t_pdp_opencv_hough_circles *x)
+{
+   int encoding;
+   t_pdp *header = 0;
+   char *parname;
+   unsigned pi;
+   int partype;
+   float pardefault;
+   t_atom plist[2];
+   t_atom tlist[2];
+   t_atom vlist[2];
+
+   /* check if image data packets are compatible */
+   if ( (header = pdp_packet_header(x->x_packet0))
+  && (PDP_BITMAP == header->type)){
+    
+  /* pdp_opencv_hough_circles_process inputs and write into active inlet */
+  switch(pdp_packet_header(x->x_packet0)->info.image.encoding){
+
+  case PDP_BITMAP_RGB:
+            x->x_packet1 = pdp_packet_clone_rw(x->x_packet0);
+            pdp_queue_add(x, (void*)pdp_opencv_hough_circles_process_rgb, (void*)pdp_opencv_hough_circles_sendpacket, &x->x_queue_id);
+      break;
+
+  default:
+      /* don't know the type, so dont pdp_opencv_hough_circles_process */
+      break;
+      
+  }
+ }
+
+}
+
+static void pdp_opencv_hough_circles_input_0(t_pdp_opencv_hough_circles *x, t_symbol *s, t_floatarg f)
+{
+    /* if this is a register_ro message or register_rw message, register with packet factory */
+
+    if (s == gensym("register_rw")) 
+       x->x_dropped = pdp_packet_convert_ro_or_drop(&x->x_packet0, (int)f, pdp_gensym((char*)"bitmap/rgb/*") );
+
+    if ((s == gensym("process")) && (-1 != x->x_packet0) && (!x->x_dropped))
+    {
+        /* add the process method and callback to the process queue */
+        pdp_opencv_hough_circles_process(x);
+    }
+}
+
+static void pdp_opencv_hough_circles_free(t_pdp_opencv_hough_circles *x)
+{
+  int i;
+
+    pdp_queue_finish(x->x_queue_id);
+    pdp_packet_mark_unused(x->x_packet0);
+    
+    //Destroy cv_images
+    cvReleaseImage( &x->image );
+    cvReleaseImage( &x->grey );
+}
+
+t_class *pdp_opencv_hough_circles_class;
+
+void *pdp_opencv_hough_circles_new(t_floatarg f)
+{
+  int i;
+
+  t_pdp_opencv_hough_circles *x = (t_pdp_opencv_hough_circles *)pd_new(pdp_opencv_hough_circles_class);
+
+  x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
+  x->x_outlet1 = outlet_new(&x->x_obj, &s_anything);
+
+  x->x_packet0 = -1;
+  x->x_packet1 = -1;
+  x->x_queue_id = -1;
+
+  x->x_width  = 320;
+  x->x_height = 240;
+  x->x_size   = x->x_width * x->x_height;
+
+  x->x_threshold = 100;
+  x->x_threshold2 = 10;
+  x->x_maxcircles = 10;
+  x->x_mindist = 30.0;
+  x->x_resolution = 1.0;
+  x->night_mode = 0;
+
+  // initialize font
+  cvInitFont( &x->font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 );
+    
+  x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 );
+  x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+
+  return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_hough_circles_setup(void)
+{
+
+    post( "    pdp_opencv_hough_circles");
+    pdp_opencv_hough_circles_class = class_new(gensym("pdp_opencv_hough_circles"), (t_newmethod)pdp_opencv_hough_circles_new,
+      (t_method)pdp_opencv_hough_circles_free, sizeof(t_pdp_opencv_hough_circles), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_nightmode, gensym("nightmode"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_threshold, gensym("threshold"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_threshold2, gensym("threshold2"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_mindist, gensym("mindist"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_resolution, gensym("resolution"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_maxcircles, gensym("maxcircles"), A_FLOAT, A_NULL );   
+}
+
+#ifdef __cplusplus
+}
+#endif