added hough lines detector

svn path=/trunk/externals/pdp_opencv/; revision=12048

1 files changed, 393 insertions, 0 deletions

diff --git a/pdp_opencv_hough_lines.cc b/pdp_opencv_hough_lines.cc
new file mode 100644
index 0000000..535e1ca
--- /dev/null
+++ b/pdp_opencv_hough_lines.cc
@@ -0,0 +1,393 @@
+/*
+ *   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_lines_struct
+{
+  t_object x_obj;
+  t_float x_f;
+
+  t_outlet *x_outlet0;
+  t_outlet *x_outlet1;
+  t_atom x_list[3];
+
+  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_mode;
+  int x_threshold;
+  int x_maxlines;
+  double x_minlength;
+  double x_gap;
+  double x_aresolution;
+  double x_dresolution;
+  int night_mode;
+  CvFont font;
+  CvMemStorage* x_storage;
+  CvSeq* x_lines;
+    
+} t_pdp_opencv_hough_lines;
+
+static void pdp_opencv_hough_lines_process_rgb(t_pdp_opencv_hough_lines *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,ulines;
+
+    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_lines :: 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 );
+    // hard-coded cvCanny, it's what works
+    cvCanny( x->grey, x->grey, 50, 200, 3 );
+
+    if( x->night_mode )
+        cvZero( x->image );
+        
+    x->x_storage = cvCreateMemStorage(0);
+
+    switch( x->x_mode )
+    {
+
+       case CV_HOUGH_STANDARD:
+
+        x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, 0, 0 );
+
+        if ( x->x_lines )
+        {
+          ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total;
+          // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines );
+          for( i=0; i<ulines; i++ )
+          {
+            float* line = (float*)cvGetSeqElem(x->x_lines,i);
+            float rho = line[0];
+            float theta = line[1];
+            CvPoint pt1, pt2;
+            char tindex[10];
+            double a = cos(theta), b = sin(theta);
+            double x0 = a*rho, y0 = b*rho;
+            pt1.x = cvRound(x0 + 1000*(-b));
+            pt1.y = cvRound(y0 + 1000*(a));
+            pt2.x = cvRound(x0 - 1000*(-b));
+            pt2.y = cvRound(y0 - 1000*(a));
+            cvLine( x->image, pt1, pt2, CV_RGB(255,0,0), 3, 8 );
+            sprintf( tindex, "%d", i );
+            pt1.x = (pt1.x+pt2.x)/2;
+            pt1.y = (pt1.y+pt2.y)/2;
+            cvPutText( x->image, tindex, pt1, &x->font, CV_RGB(255,255,255));
+          }
+        }
+        break;
+
+       case CV_HOUGH_PROBABILISTIC:
+
+        x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, x->x_minlength, x->x_gap );
+
+        if ( x->x_lines )
+        {
+          ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total;
+          // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines );
+          for( i=0; i<ulines; i++ )
+          {
+            CvPoint* line = (CvPoint*)cvGetSeqElem(x->x_lines,i);
+            char tindex[10];
+            cvLine( x->image, line[0], line[1], CV_RGB(255,0,0), 3, 8 );
+            sprintf( tindex, "%d", i );
+            line[0].x = (line[0].x+line[1].x)/2;
+            line[0].y = (line[0].y+line[1].y)/2;
+            cvPutText( x->image, tindex, line[0], &x->font, CV_RGB(255,255,255));
+          }
+        }
+        break;
+
+       case CV_HOUGH_MULTI_SCALE:
+
+        x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, x->x_dresolution, x->x_aresolution );
+
+        if ( x->x_lines )
+        {
+          ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total;
+          // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines );
+          for( i = 0; i < ulines; i++ )
+          {
+            float* line = (float*)cvGetSeqElem(x->x_lines,i);
+            float rho = line[0];
+            float theta = line[1];
+            char tindex[10];
+            CvPoint pt1, pt2;
+            double a = cos(theta), b = sin(theta);
+            double x0 = a*rho, y0 = b*rho;
+            pt1.x = cvRound(x0 + 1000*(-b));
+            pt1.y = cvRound(y0 + 1000*(a));
+            pt2.x = cvRound(x0 - 1000*(-b));
+            pt2.y = cvRound(y0 - 1000*(a));
+            cvLine( x->image, pt1, pt2, CV_RGB(255,0,0), 3, 8 );
+            sprintf( tindex, "%d", i );
+            pt1.x = (pt1.x+pt2.x)/2;
+            pt1.y = (pt1.y+pt2.y)/2;
+            cvPutText( x->image, tindex, pt1, &x->font, CV_RGB(255,255,255));
+          }
+        }
+        break;
+    }
+
+    cvReleaseMemStorage( &x->x_storage ); 
+
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+    return;
+}
+
+static void pdp_opencv_hough_lines_nightmode(t_pdp_opencv_hough_lines *x, t_floatarg fmode)
+{
+  if ((fmode==0.0)||(fmode==1.0)) x->night_mode = (int)fmode;
+}
+
+static void pdp_opencv_hough_lines_threshold(t_pdp_opencv_hough_lines *x, t_floatarg fthresh)
+{
+  if (fthresh>0.0) x->x_threshold = (int)fthresh;
+}
+
+static void pdp_opencv_hough_lines_minlength(t_pdp_opencv_hough_lines *x, t_floatarg flength)
+{
+  if (flength>0.0) x->x_minlength = (double)flength;
+}
+
+static void pdp_opencv_hough_lines_maxlines(t_pdp_opencv_hough_lines *x, t_floatarg fmaxlines)
+{
+  if (fmaxlines>0.0) x->x_maxlines = (int)fmaxlines;
+}
+
+static void pdp_opencv_hough_lines_gap(t_pdp_opencv_hough_lines *x, t_floatarg fgap)
+{
+  if (fgap>0.0) x->x_gap = (double)fgap;
+}
+
+static void pdp_opencv_hough_lines_aresolution(t_pdp_opencv_hough_lines *x, t_floatarg fresol)
+{
+  if (fresol>0.0) x->x_aresolution = (double)fresol;
+}
+
+static void pdp_opencv_hough_lines_dresolution(t_pdp_opencv_hough_lines *x, t_floatarg fresol)
+{
+  if (fresol>0.0) x->x_dresolution = (double)fresol;
+}
+
+static void pdp_opencv_hough_lines_mode(t_pdp_opencv_hough_lines *x, t_floatarg fmode )
+{
+    if ( fmode == CV_HOUGH_STANDARD )
+    {
+       x->x_mode = CV_HOUGH_STANDARD;
+    }
+    if ( fmode == CV_HOUGH_PROBABILISTIC )
+    {
+       x->x_mode = CV_HOUGH_PROBABILISTIC;
+    }
+    if ( fmode == CV_HOUGH_MULTI_SCALE )
+    {
+       x->x_mode = CV_HOUGH_MULTI_SCALE;
+    }
+}
+
+static void pdp_opencv_hough_lines_sendpacket(t_pdp_opencv_hough_lines *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_lines_process(t_pdp_opencv_hough_lines *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_lines_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_lines_process_rgb, (void*)pdp_opencv_hough_lines_sendpacket, &x->x_queue_id);
+      break;
+
+  default:
+      /* don't know the type, so dont pdp_opencv_hough_lines_process */
+      break;
+      
+  }
+    }
+
+}
+
+static void pdp_opencv_hough_lines_input_0(t_pdp_opencv_hough_lines *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_lines_process(x);
+    }
+}
+
+static void pdp_opencv_hough_lines_free(t_pdp_opencv_hough_lines *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_lines_class;
+
+void *pdp_opencv_hough_lines_new(t_floatarg f)
+{
+  int i;
+
+  t_pdp_opencv_hough_lines *x = (t_pdp_opencv_hough_lines *)pd_new(pdp_opencv_hough_lines_class);
+  inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("win_size"));
+
+  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_mode = CV_HOUGH_STANDARD;
+  x->x_threshold = 200;
+  x->x_maxlines = 10;
+  x->x_minlength = 30.0;
+  x->x_gap = 10.0;
+  x->x_aresolution = 10.0;
+  x->x_dresolution = 30.0;
+  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_lines_setup(void)
+{
+
+    post( "    pdp_opencv_hough_lines");
+    pdp_opencv_hough_lines_class = class_new(gensym("pdp_opencv_hough_lines"), (t_newmethod)pdp_opencv_hough_lines_new,
+      (t_method)pdp_opencv_hough_lines_free, sizeof(t_pdp_opencv_hough_lines), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_nightmode, gensym("nightmode"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_mode, gensym("mode"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_threshold, gensym("threshold"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_minlength, gensym("minlength"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_gap, gensym("gap"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_aresolution, gensym("aresolution"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_dresolution, gensym("dresolution"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_maxlines, gensym("maxlines"), A_FLOAT, A_NULL );   
+}
+
+#ifdef __cplusplus
+}
+#endif