added camshift : hue based tracker

svn path=/trunk/externals/pdp_opencv/; revision=12077

3 files changed, 495 insertions, 1 deletions

diff --git a/Makefile b/Makefile
index 9526f70..8405cb1 100644
--- a/Makefile
+++ b/Makefile
@@ -37,7 +37,7 @@ endif
 
 .SUFFIXES = $(EXTENSION)
 
-SOURCES = pdp_opencv_threshold.c pdp_opencv_edge.c pdp_opencv_distrans.c pdp_opencv_laplace.c pdp_opencv_motempl.c pdp_opencv_morphology.c pdp_opencv_haarcascade.c pdp_opencv_contours_convexity.c pdp_opencv_contours_boundingrect.c pdp_opencv_bgsubstract.c pdp_opencv_lk.c pdp_opencv_floodfill.c pdp_opencv_hist_compare.c pdp_opencv_dft.c pdp_opencv_knear.cc pdp_opencv_hu_moments.c pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_surf.cc pdp_opencv_athreshold.c pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc
+SOURCES = pdp_opencv_threshold.c pdp_opencv_edge.c pdp_opencv_distrans.c pdp_opencv_laplace.c pdp_opencv_motempl.c pdp_opencv_morphology.c pdp_opencv_haarcascade.c pdp_opencv_contours_convexity.c pdp_opencv_contours_boundingrect.c pdp_opencv_bgsubstract.c pdp_opencv_lk.c pdp_opencv_floodfill.c pdp_opencv_hist_compare.c pdp_opencv_dft.c pdp_opencv_knear.cc pdp_opencv_hu_moments.c pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_surf.cc pdp_opencv_athreshold.c pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc pdp_opencv_camshift.cc
 
 all: $(SOURCES:.c=.$(EXTENSION)) $(SOURCES:.cc=.$(EXTENSION))
 
diff --git a/pdp_opencv_camshift-help.pd b/pdp_opencv_camshift-help.pd
new file mode 100644
index 0000000..15f9574
--- /dev/null
+++ b/pdp_opencv_camshift-help.pd
@@ -0,0 +1,124 @@
+#N canvas 20 96 1039 729 10;
+#X obj 11 -57 cnv 15 750 250 empty empty empty 20 12 0 14 -260097 -66577
+0;
+#X obj 251 -17 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0
+1;
+#X obj 251 10 metro 40;
+#X msg 341 37 close;
+#X obj 271 108 pdp_v4l;
+#X msg 328 5 open /dev/video0;
+#X obj 440 -22 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X obj 440 5 metro 40;
+#X msg 521 24 close;
+#X msg 517 0 open /dev/video0;
+#X obj 461 104 pdp_v4l2;
+#X msg 526 79 format \$1;
+#X obj 527 57 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1
+-1 0;
+#X obj 41 158 pdp_qt;
+#X obj 74 94 metro 40;
+#X msg 74 66 bang;
+#X msg 115 66 stop;
+#X obj 41 -3 openpanel;
+#X msg 41 22 open \$1;
+#X msg 41 -31 bang;
+#X msg 75 121 loop \$1;
+#X obj 155 121 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X obj 155 39 loadbang;
+#X text 84 -28 playing a video file;
+#X text 281 -19 Camera input;
+#X obj 101 159 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144
+-1 -1 0 1;
+#X obj 12 201 cnv 15 750 300 empty empty empty 20 12 0 14 -258113 -66577
+0;
+#X obj 40 519 pdp_xv;
+#X text 13 -74 written by Yves Degoyon ( ydegoyon@gmail.com );
+#X obj 42 410 pdp_opencv_camshift;
+#X msg 127 307 backproject \$1;
+#X text 246 308 show the backproject flow image;
+#X obj 224 308 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1
+1;
+#X msg 85 224 vmin \$1;
+#X floatatom 141 226 5 0 0 0 - - -;
+#X floatatom 157 250 5 0 0 0 - - -;
+#X msg 103 250 vmax \$1;
+#X floatatom 170 281 5 0 0 0 - - -;
+#X msg 116 280 smin \$1;
+#X text 195 250 V pre-filtering maximal value ( default : 256 );
+#X text 209 279 S pre-filtering minimal value ( default : 30 );
+#X obj 40 542 route press;
+#X msg 159 387 track \$1 \$2;
+#X msg 91 518 cursor 1;
+#X text 236 385 track %x %y : mark the object to track;
+#X text 163 517 <-- select a point to start tracking an object;
+#X floatatom 203 340 5 0 0 0 - - -;
+#X floatatom 220 364 5 0 0 0 - - -;
+#X msg 138 338 rwidth \$1;
+#X msg 147 362 rheight \$1;
+#X text 239 338 initial search region width ( default : 20 );
+#X text 258 363 initial search region height ( default : 20 );
+#X text 186 226 V pre-filtering minimal value ( default : 50 );
+#X obj 170 427 unpack f f f f f;
+#X floatatom 171 457 5 0 0 0 - - -;
+#X floatatom 210 457 5 0 0 0 - - -;
+#X floatatom 248 457 5 0 0 0 - - -;
+#X floatatom 287 457 5 0 0 0 - - -;
+#X floatatom 328 457 5 0 0 0 - - -;
+#X text 198 481 center Y;
+#X text 248 471 width;
+#X text 283 482 height;
+#X text 158 471 center X;
+#X text 326 473 angle;
+#X text 13 -110 pdp_opencv_camshift : continuously adaptive mean-shift
+algorithm to track objects based on a hidden histogram of the hue component
+of pixels.;
+#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;
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+#X connect 22 0 21 0;
+#X connect 22 0 15 0;
+#X connect 25 0 13 1;
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+#X connect 37 0 38 0;
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+#X connect 46 0 48 0;
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+#X connect 53 0 54 0;
+#X connect 53 1 55 0;
+#X connect 53 2 56 0;
+#X connect 53 3 57 0;
+#X connect 53 4 58 0;
diff --git a/pdp_opencv_camshift.cc b/pdp_opencv_camshift.cc
new file mode 100644
index 0000000..e06aa57
--- /dev/null
+++ b/pdp_opencv_camshift.cc
@@ -0,0 +1,370 @@
+/*
+ *   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
+
+typedef struct pdp_opencv_camshift_struct
+{
+    t_object x_obj;
+    t_float x_f;
+    t_atom x_list[5];
+
+    t_outlet *x_outlet0;
+    t_outlet *x_outlet1;
+    int x_packet0;
+    int x_packet1;
+    int x_dropped;
+    int x_queue_id;
+
+    int x_width;
+    int x_height;
+    int x_size;
+
+    int x_track;
+    int x_init;
+    int x_rwidth;
+    int x_rheight;
+    int x_backproject;
+    int x_vmin;
+    int x_vmax;
+    int x_smin;
+
+    IplImage *image, *hsv, *hue, *mask, *backproject;
+    CvHistogram *hist;
+    CvPoint origin;
+    CvRect selection;
+    CvRect trackwindow;
+    CvBox2D trackbox;
+    CvConnectedComp trackcomp;
+    
+} t_pdp_opencv_camshift;
+
+static CvScalar pdp_opencv_camshift_hsv2rgb( float hue )
+{
+    int rgb[3], p, sector;
+    static const int sector_data[][3]= {{0,2,1}, {1,2,0}, {1,0,2}, {2,0,1}, {2,1,0}, {0,1,2}};
+    hue *= 0.033333333333333333333333333333333f;
+    sector = cvFloor(hue);
+    p = cvRound(255*(hue - sector));
+    p ^= sector & 1 ? 255 : 0;
+
+    rgb[sector_data[sector][0]] = 255;
+    rgb[sector_data[sector][1]] = 0;
+    rgb[sector_data[sector][2]] = p;
+
+    return cvScalar(rgb[2], rgb[1], rgb[0],0);
+}
+
+static void pdp_opencv_camshift_process_rgb(t_pdp_opencv_camshift *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 hdims = 16;
+    float hranges_arr[] = {0,180};
+    float* hranges = hranges_arr;
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height)) 
+    {
+
+    	post("pdp_opencv_camshift :: resizing");
+	
+    	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->hsv);
+    	cvReleaseImage(&x->hue);
+    	cvReleaseImage(&x->mask);
+    	cvReleaseImage(&x->backproject);
+    	cvReleaseHist(&x->hist);
+    
+        x->image = 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->hue = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+        x->mask = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+        x->backproject = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+        x->hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 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 );
+    
+    // Convert to hsv
+    cvCvtColor(x->image, x->hsv, CV_BGR2HSV);
+
+    if ( x->x_track  )
+    {
+      cvInRangeS( x->hsv, cvScalar(0,x->x_smin,MIN(x->x_vmin,x->x_vmax),0), cvScalar(180,256,MAX(x->x_vmin,x->x_vmax),0), x->mask );
+      cvSplit( x->hsv, x->hue, 0, 0, 0 );
+ 
+      if ( x->x_init )
+      {
+       float max_val = 0.f;
+         x->x_init = 0;
+         cvSetImageROI( x->hue, x->selection );
+         cvSetImageROI( x->mask, x->selection );
+         cvCalcHist( &x->hue, x->hist, 0, x->mask );
+         cvGetMinMaxHistValue( x->hist, 0, &max_val, 0, 0 );
+         cvConvertScale( x->hist->bins, x->hist->bins, max_val ? 255. / max_val : 0., 0 );
+         cvResetImageROI( x->hue );
+         cvResetImageROI( x->mask );
+         x->trackwindow = x->selection;
+      }
+
+      cvCalcBackProject( (IplImage**)&(x->hue), (CvArr*)x->backproject, (const CvHistogram*)x->hist );
+      cvAnd( x->backproject, x->mask, x->backproject, 0 );
+      cvCamShift( x->backproject, x->trackwindow,
+                  cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
+                  &x->trackcomp, &x->trackbox );
+      x->trackwindow = x->trackcomp.rect;
+
+      if( x->x_backproject )
+          cvCvtColor( x->backproject, x->image, CV_GRAY2BGR );
+      if( !x->image->origin )
+           x->trackbox.angle = -x->trackbox.angle;
+      cvEllipseBox( x->image, x->trackbox, CV_RGB(255,0,0), 3, CV_AA, 0 );
+      SETFLOAT(&x->x_list[0], x->trackbox.center.x);
+      SETFLOAT(&x->x_list[1], x->trackbox.center.y);
+      SETFLOAT(&x->x_list[2], x->trackbox.size.width);
+      SETFLOAT(&x->x_list[3], x->trackbox.size.height);
+      SETFLOAT(&x->x_list[4], x->trackbox.angle);
+      outlet_list( x->x_outlet1, 0, 5, x->x_list );
+    }
+  
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+ 
+    return;
+}
+
+static void pdp_opencv_camshift_backproject(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( ( (int)f==0 ) || ( (int)f==1 ) ) x->x_backproject = (int)f;
+}
+
+static void pdp_opencv_camshift_vmin(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( ( (int)f>=0 ) || ( (int)f<256 ) ) x->x_vmin = (int)f;
+}
+
+static void pdp_opencv_camshift_vmax(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( ( (int)f>=0 ) || ( (int)f<256 ) ) x->x_vmax = (int)f;
+}
+
+static void pdp_opencv_camshift_smin(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( ( (int)f>=0 ) || ( (int)f<256 ) ) x->x_smin = (int)f;
+}
+
+static void pdp_opencv_camshift_track(t_pdp_opencv_camshift *x, t_floatarg perx, t_floatarg pery)
+{
+  int ox,oy;
+  int rx,ry;
+  int w,h;
+
+    if ( ( perx<0.0 ) || ( perx>1.0 ) || ( pery<0.0 ) || ( pery>1.0 ) ) return;
+    
+    ox = (int)(perx*x->x_width);
+    oy = (int)(pery*x->x_height);
+    x->origin = cvPoint(ox,oy);
+    rx = ( ox-(x->x_rwidth/2) < 0 )? 0:ox-(x->x_rwidth/2);
+    ry = ( oy-(x->x_rheight/2) < 0 )? 0:oy-(x->x_rheight/2);
+    w = (rx+x->x_rwidth>x->x_width ) ? ( x->x_width - rx ):x->x_rwidth;
+    h = (ry+x->x_rheight>x->x_height ) ? ( x->x_height - ry ):x->x_rheight;
+    x->selection = cvRect(rx,ry,w,h);
+    x->x_track = 1;
+    x->x_init = 1;
+}
+
+static void pdp_opencv_camshift_rwidth(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( (int)f>=0 ) x->x_rwidth = (int)f;
+    // refresh selection zone
+    pdp_opencv_camshift_track( x, ((float)x->origin.x)/((float)x->x_width), ((float)x->origin.y)/((float)x->x_height) );
+}
+
+static void pdp_opencv_camshift_rheight(t_pdp_opencv_camshift *x, t_floatarg f)
+{
+    if ( (int)f>=0 ) x->x_rheight = (int)f;
+    // refresh selection zone
+    pdp_opencv_camshift_track( x, ((float)x->origin.x)/((float)x->x_width), ((float)x->origin.y)/((float)x->x_height) );
+}
+
+static void pdp_opencv_camshift_sendpacket(t_pdp_opencv_camshift *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_camshift_process(t_pdp_opencv_camshift *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_camshift_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_camshift_process_rgb, (void*)pdp_opencv_camshift_sendpacket, &x->x_queue_id);
+	    break;
+
+	default:
+	    /* don't know the type, so dont pdp_opencv_camshift_process */
+	    break;
+	    
+	}
+    }
+}
+
+static void pdp_opencv_camshift_input_0(t_pdp_opencv_camshift *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_camshift_process(x);
+    }
+}
+
+static void pdp_opencv_camshift_free(t_pdp_opencv_camshift *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->hsv);
+    cvReleaseImage(&x->hue);
+    cvReleaseImage(&x->mask);
+    cvReleaseImage(&x->backproject);
+    cvReleaseHist(&x->hist);
+}
+
+t_class *pdp_opencv_camshift_class;
+
+void *pdp_opencv_camshift_new(t_floatarg f)
+{
+  int hdims = 16;
+  float hranges_arr[] = {0,180};
+  float* hranges = hranges_arr;
+
+    t_pdp_opencv_camshift *x = (t_pdp_opencv_camshift *)pd_new(pdp_opencv_camshift_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_track = 0;
+    x->x_init = 0;
+    x->x_rwidth = 20;
+    x->x_rheight = 20;
+    x->x_backproject = 0;
+    x->x_vmin = 50;
+    x->x_vmax = 256;
+    x->x_smin = 30;
+
+    x->image = 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->hue = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->mask = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->backproject = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1);
+    x->hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
+
+    return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_camshift_setup(void)
+{
+
+    post( "		pdp_opencv_camshift");
+    pdp_opencv_camshift_class = class_new(gensym("pdp_opencv_camshift"), (t_newmethod)pdp_opencv_camshift_new,
+    	(t_method)pdp_opencv_camshift_free, sizeof(t_pdp_opencv_camshift), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_backproject, gensym("backproject"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_vmin, gensym("vmin"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_vmax, gensym("vmax"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_smin, gensym("smin"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_track, gensym("track"),  A_FLOAT, A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_rwidth, gensym("rwidth"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_camshift_class, (t_method)pdp_opencv_camshift_rheight, gensym("rheight"),  A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif