changed pdp_opencv_histo to pdp_opencv_hist_compare

and added new outlet (list of matching measurements for each recorded histograms)

svn path=/trunk/externals/pdp_opencv/; revision=11919

2 files changed, 502 insertions, 0 deletions

diff --git a/pdp_opencv_hist_compare-help.pd b/pdp_opencv_hist_compare-help.pd
new file mode 100644
index 0000000..97e94a3
--- /dev/null
+++ b/pdp_opencv_hist_compare-help.pd
@@ -0,0 +1,102 @@
+#N canvas 355 42 757 669 10;
+#X obj -147 -72 cnv 15 621 250 empty empty empty 20 12 0 14 -260097
+-66577 0;
+#X obj 93 -32 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 93 -5 metro 40;
+#X msg 183 22 close;
+#X obj 113 93 pdp_v4l;
+#X msg 170 -10 open /dev/video0;
+#X obj 294 -30 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X obj 294 -3 metro 40;
+#X msg 375 16 close;
+#X msg 371 -8 open /dev/video0;
+#X obj 315 96 pdp_v4l2;
+#X msg 380 71 format \$1;
+#X obj 381 49 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1
+-1 0;
+#X obj -117 143 pdp_qt;
+#X obj -84 79 metro 40;
+#X msg -84 51 bang;
+#X msg -43 51 stop;
+#X obj -117 -18 openpanel;
+#X msg -117 7 open \$1;
+#X msg -117 -46 bang;
+#X msg -83 106 loop \$1;
+#X obj -3 106 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X obj -3 24 loadbang;
+#X text -74 -43 playing a video file;
+#X text 123 -34 Camera input;
+#X obj -57 144 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 0 1;
+#X text -149 -124 record histograms of specific situations;
+#X text -147 -112 the object will recognize the situations if they
+occur again;
+#X obj -146 186 cnv 15 621 300 empty empty empty 20 12 0 14 -258113
+-66577 0;
+#X obj -118 208 pdp_scale 320 240;
+#X obj -120 380 pdp_xv;
+#X obj -66 340 pdp_xv;
+#X floatatom 1 420 5 0 0 0 - - -;
+#X obj -12 262 hradio 15 1 0 5 empty empty empty 0 -8 0 10 -262144
+-1 -1 0;
+#X text -1 207 <- this scaling saves memmory;
+#X text 71 261 save an histogram at position nth ( 0 <= n <= 80 );
+#X text -147 -98 Written by Lluis Gomez i Bigorda ( lluisgomez@hangar.org
+);
+#X obj -66 300 pdp_opencv_hist_compare;
+#X obj 69 319 unpack f f f f f;
+#X obj 391 97 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1
+-1 1;
+#X msg 390 119 input \$1;
+#X text 161 343 matchiing measure with stored histograms;
+#X text 162 354 nearest to 1 is the winner;
+#X text 37 421 closest histogram (winner);
+#X obj 69 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144
+-1 -1 2840 1;
+#X obj 92 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144
+-1 -1 1917 1;
+#X obj 115 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144
+-1 -1 2486 1;
+#X obj 138 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144
+-1 -1 0 1;
+#X text -148 -150 pdp_opencv_hist_compare : rapid patern recognition
+using HS histograms;
+#X connect 1 0 2 0;
+#X connect 2 0 4 0;
+#X connect 3 0 4 0;
+#X connect 4 0 29 0;
+#X connect 5 0 4 0;
+#X connect 6 0 7 0;
+#X connect 7 0 10 0;
+#X connect 8 0 10 0;
+#X connect 9 0 10 0;
+#X connect 10 0 29 0;
+#X connect 11 0 10 0;
+#X connect 12 0 11 0;
+#X connect 13 0 29 0;
+#X connect 14 0 13 0;
+#X connect 15 0 14 0;
+#X connect 16 0 14 0;
+#X connect 17 0 18 0;
+#X connect 18 0 13 0;
+#X connect 19 0 17 0;
+#X connect 20 0 13 0;
+#X connect 21 0 20 0;
+#X connect 22 0 21 0;
+#X connect 22 0 15 0;
+#X connect 25 0 13 1;
+#X connect 29 0 30 0;
+#X connect 29 0 37 0;
+#X connect 33 0 37 1;
+#X connect 37 0 31 0;
+#X connect 37 1 32 0;
+#X connect 37 2 38 0;
+#X connect 38 0 44 0;
+#X connect 38 1 45 0;
+#X connect 38 2 46 0;
+#X connect 38 3 47 0;
+#X connect 39 0 40 0;
+#X connect 40 0 10 0;
diff --git a/pdp_opencv_hist_compare.c b/pdp_opencv_hist_compare.c
new file mode 100644
index 0000000..adf3779
--- /dev/null
+++ b/pdp_opencv_hist_compare.c
@@ -0,0 +1,400 @@
+/*
+ *   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 "pdp.h"
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+
+#define MAX_HISTOGRAMS_TO_COMPARE 80
+
+typedef struct pdp_opencv_hist_compare_struct
+{
+    t_object x_obj;
+    t_float x_f;
+
+    t_outlet *x_outlet0;
+    t_outlet *x_outlet1;
+    t_outlet *x_dataout;
+    int x_packet0;
+    int x_packet1;
+    int x_dropped;
+    int x_queue_id;
+
+    int x_width;
+    int x_height;
+    int x_size;
+
+    int x_infosok; 
+
+    int save_now;
+    int nbsaved;
+    
+    CvHistogram *hist;
+    CvHistogram *saved_hist[MAX_HISTOGRAMS_TO_COMPARE];
+    IplImage *src, *hsv, *h_plane, *s_plane, *v_plane, *h_saved_plane, *s_saved_plane, *v_saved_plane, *planes[2],*saved_planes[2];
+
+    
+} t_pdp_opencv_hist_compare;
+
+
+
+static void pdp_opencv_hist_compare_process_rgb(t_pdp_opencv_hist_compare *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 h_bins = (int)(x->x_width/10), s_bins = (int)(x->x_height/10);
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height)) 
+    {
+
+    	// if image size has changed we must create again our image and histogram structures
+    	post("pdp_opencv_hist_compare :: resizing buffers");
+
+    	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->src);
+	cvReleaseImage(&x->hsv);
+    	cvReleaseImage(&x->h_plane);
+    	cvReleaseImage(&x->s_plane);
+    	cvReleaseImage(&x->v_plane);
+    	cvReleaseImage(&x->h_saved_plane);
+    	cvReleaseImage(&x->s_saved_plane);
+    	cvReleaseImage(&x->v_saved_plane);
+    
+	//create the orig image with new size
+        x->src = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
+
+    	// Create the output images with new sizes
+	x->hsv = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3 );
+
+    	x->h_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    	x->s_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    	x->v_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+	x->planes[0] = x->h_plane;
+	x->planes[1] = x->s_plane;
+    	x->h_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    	x->s_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    	x->v_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+	x->saved_planes[0] = x->h_saved_plane;
+	x->saved_planes[1] = x->s_saved_plane;
+        {
+          int    hist_size[]  = { h_bins, s_bins };
+          float  h_ranges[]   = { 0, 180 };         // hue is [0,180]
+          float  s_ranges[]   = { 0, 255 };
+          float* ranges[]     = { h_ranges, s_ranges };
+          x->hist = cvCreateHist(
+            2,
+            hist_size,
+            CV_HIST_ARRAY,
+            ranges,
+            1
+          );
+	  int n;
+	  for (n=0; n<MAX_HISTOGRAMS_TO_COMPARE; n++) {
+          	x->saved_hist[n] = cvCreateHist(
+          	  2,
+          	  hist_size,
+          	  CV_HIST_ARRAY,
+          	  ranges,
+          	  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 );
+
+    
+    // We make here a copy of the PDP packet in image->imageData ... 
+    // take a look on the IplImage data structure
+    // http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html 
+    memcpy( x->src->imageData, data, x->x_size*3 );
+    
+    // Convert to grayscale
+    cvCvtColor( x->src, x->hsv, CV_BGR2HSV );
+    cvCvtPixToPlane( x->hsv, x->h_plane, x->s_plane, x->v_plane, 0 );
+	
+    // Build the histogram and compute its contents.
+    if (x->save_now>=0) {
+    		fprintf(stderr,"saving histogram %d\n",x->save_now);
+    		cvCvtPixToPlane( x->hsv, x->h_saved_plane, x->s_saved_plane, x->v_saved_plane, 0 );
+        	cvCalcHist( x->saved_planes, x->saved_hist[x->save_now], 0, 0 ); //Compute histogram
+        	cvNormalizeHist( x->saved_hist[x->save_now], 1.0 );  //Normalize it 
+		x->nbsaved++;
+		x->save_now=-1;
+     } 
+     cvCalcHist( x->planes, x->hist, 0, 0 ); //Compute histogram
+     cvNormalizeHist( x->hist, 1.0 );  //Normalize it 
+
+     double tato[x->nbsaved];
+     t_atom datalist[x->nbsaved];
+     int nearest = -1;
+     double max  =  0;
+
+     int n;
+     for (n=0; n<x->nbsaved; n++) {
+		tato[n] = cvCompareHist(x->hist, x->saved_hist[n], CV_COMP_INTERSECT);
+		SETFLOAT(&datalist[n], tato[n]);
+		if (tato[n]>max) {
+			max = tato[n];
+			nearest = n;
+		}
+     }
+    	
+    if ( x->nbsaved > 0 ) {
+       outlet_float(x->x_outlet1, (float)nearest);
+       outlet_list( x->x_dataout, 0, x->nbsaved , datalist );
+    } else
+       outlet_float(x->x_outlet1, -1.0);
+    	    
+
+    // Create an image to use to visualize our histogram.
+    int scale = 10;
+    //IplImage* hist_img = cvCreateImage( 
+    //  cvSize(x->x_width,x->x_height),
+    //  8,
+    //  3
+    //);
+    //cvZero( hist_img );
+
+    // populate our visualization with little gray squares.
+	
+    float max_value = 0;
+    cvGetMinMaxHistValue( x->hist, 0, &max_value, 0, 0 );
+
+    int h = 0;
+    int s = 0;
+
+    for( h = 0; h < h_bins; h++ ) {
+         for( s = 0; s < s_bins; s++ ) {
+                 float bin_val = cvQueryHistValue_2D( x->hist, h, s );
+                 int intensity = cvRound( bin_val * 255 / max_value );
+                 cvRectangle(
+                   x->src,
+                   cvPoint( h*scale, s*scale ),
+                   cvPoint( (h+1)*scale - 1, (s+1)*scale - 1),
+		   CV_RGB(intensity,intensity,intensity), CV_FILLED, 8 , 0 );
+               }
+    }
+
+    //memory copy again, now from x->cedge->imageData to the new data pdp packet
+    //memcpy( newdata, hist_img, x->x_size*3 );
+    memcpy( newdata, x->src->imageData, x->x_size*3 );
+
+    return;
+}
+
+static void pdp_opencv_hist_compare_save(t_pdp_opencv_hist_compare *x, t_floatarg f)
+{
+	if (((int)f>=0)&&((int)f<MAX_HISTOGRAMS_TO_COMPARE)) x->save_now = (int)f;
+}
+
+static void pdp_opencv_hist_compare_sendpacket(t_pdp_opencv_hist_compare *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_hist_compare_process(t_pdp_opencv_hist_compare *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_hist_compare_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, pdp_opencv_hist_compare_process_rgb, pdp_opencv_hist_compare_sendpacket, &x->x_queue_id);
+	    break;
+
+	default:
+	    /* don't know the type, so dont pdp_opencv_hist_compare_process */
+	    break;
+	    
+	}
+    }
+
+}
+
+static void pdp_opencv_hist_compare_input_0(t_pdp_opencv_hist_compare *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("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_hist_compare_process(x);
+    }
+}
+
+static void pdp_opencv_hist_compare_free(t_pdp_opencv_hist_compare *x)
+{
+  int i;
+
+    pdp_queue_finish(x->x_queue_id);
+    pdp_packet_mark_unused(x->x_packet0);
+    //cv_freeplugins(x);
+    
+    //Destroy cv_images
+    cvReleaseImage(&x->src);
+    cvReleaseImage(&x->hsv);
+    cvReleaseImage(&x->h_plane);
+    cvReleaseImage(&x->s_plane);
+    cvReleaseImage(&x->v_plane);
+    cvReleaseImage(&x->h_saved_plane);
+    cvReleaseImage(&x->s_saved_plane);
+    cvReleaseImage(&x->v_saved_plane);
+}
+
+t_class *pdp_opencv_hist_compare_class;
+
+
+void *pdp_opencv_hist_compare_new(t_floatarg f)
+{
+    int i;
+
+    t_pdp_opencv_hist_compare *x = (t_pdp_opencv_hist_compare *)pd_new(pdp_opencv_hist_compare_class);
+    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("save"));
+
+    x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
+    x->x_outlet1 = outlet_new(&x->x_obj, &s_float);
+    x->x_dataout = 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_infosok = 0;
+    x->save_now = 0;
+    x->nbsaved = 0;
+    
+    x->src = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
+    x->hsv = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3 );
+
+    x->h_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->s_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->v_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->planes[0] = x->h_plane;
+    x->planes[1] = x->s_plane;
+    cvCvtPixToPlane( x->hsv, x->h_plane, x->s_plane, x->v_plane, 0 );
+    x->h_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->s_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->v_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->saved_planes[0] = x->h_saved_plane;
+    x->saved_planes[1] = x->s_saved_plane;
+    cvCvtPixToPlane( x->hsv, x->h_saved_plane, x->s_saved_plane, x->v_saved_plane, 0 );
+
+    cvCvtColor( x->src, x->hsv, CV_BGR2HSV );
+
+    int h_bins = (int)(x->x_width/10), s_bins = (int)(x->x_height/10);
+    {
+          int    hist_size[]  = { h_bins, s_bins };
+          float  h_ranges[]   = { 0, 180 };         // hue is [0,180]
+          float  s_ranges[]   = { 0, 255 };
+          float* ranges[]     = { h_ranges, s_ranges };
+          x->hist = cvCreateHist(
+            2,
+            hist_size,
+            CV_HIST_ARRAY,
+            ranges,
+            1
+          );
+	  int n;
+	  for (n=0; n<MAX_HISTOGRAMS_TO_COMPARE; n++) {
+          	x->saved_hist[n] = cvCreateHist(
+          	  2,
+          	  hist_size,
+          	  CV_HIST_ARRAY,
+          	  ranges,
+          	  1
+          	);
+	  }
+    }
+
+    return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_hist_compare_setup(void)
+{
+
+    post( "		pdp_opencv_hist_compare");
+    pdp_opencv_hist_compare_class = class_new(gensym("pdp_opencv_hist_compare"), (t_newmethod)pdp_opencv_hist_compare_new,
+    	(t_method)pdp_opencv_hist_compare_free, sizeof(t_pdp_opencv_hist_compare), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_hist_compare_class, (t_method)pdp_opencv_hist_compare_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_hist_compare_class, (t_method)pdp_opencv_hist_compare_save, gensym("save"),  A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif