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svn path=/trunk/externals/pdp_opencv/; revision=9912

1 files changed, 448 insertions, 0 deletions

diff --git a/pdp_opencv_motempl.c b/pdp_opencv_motempl.c
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+/*
+ *   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"
+#include <time.h>
+#include <math.h>
+#include <ctype.h>
+#endif
+
+
+
+typedef struct pdp_opencv_motempl_struct
+{
+    t_object x_obj;
+    t_float x_f;
+
+    t_outlet *x_outlet0;
+    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_thresh;
+    int x_mhi_duration;
+
+    int x_infosok; 
+
+    // ring image buffer
+    IplImage **buf;
+    int last;
+
+    // temporary images
+    IplImage *mhi; // MHI
+    IplImage *orient; // orientation
+    IplImage *mask; // valid orientation mask
+    IplImage *segmask; // motion segmentation map
+    CvMemStorage* storage; // temporary storage
+    
+    IplImage* image;
+    IplImage* motion;
+
+    // various tracking parameters (in seconds)
+    double max_time_delta;
+    double min_time_delta;
+    // number of cyclic frame buffer used for motion detection
+    // (should, probably, depend on FPS)
+    int frame_buffer_num; 
+
+    int max_size;
+    int min_size;
+    
+} t_pdp_opencv_motempl;
+
+void  pdp_opencv_motempl_update_mhi( t_pdp_opencv_motempl *x, IplImage* img, IplImage* dst, int diff_threshold )
+{
+    double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
+    CvSize size = cvSize(img->width,img->height); // get current frame size
+    int i, idx1 = x->last, idx2;
+    IplImage* silh;
+    CvSeq* seq;
+    CvRect comp_rect;
+    double count;
+    double angle;
+    CvPoint center;
+    double magnitude;          
+    CvScalar color;
+
+    // allocate images at the beginning or
+    // reallocate them if the frame size is changed
+    if( !x->mhi || x->mhi->width != size.width || x->mhi->height != size.height || !x->buf ) {
+        if( x->buf == 0 ) {
+            x->buf = (IplImage**)malloc(x->frame_buffer_num*sizeof(x->buf[0]));
+            memset( x->buf, 0, x->frame_buffer_num*sizeof(x->buf[0]));
+        }
+        
+        for( i = 0; i < x->frame_buffer_num; i++ ) {
+            cvReleaseImage( &x->buf[i] );
+            x->buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
+            cvZero( x->buf[i] );
+        }
+        cvReleaseImage( &x->mhi );
+        cvReleaseImage( &x->orient );
+        cvReleaseImage( &x->segmask );
+        cvReleaseImage( &x->mask );
+        
+        x->mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
+        cvZero( x->mhi ); // clear MHI at the beginning
+        x->orient = cvCreateImage( size, IPL_DEPTH_32F, 1 );
+        x->segmask = cvCreateImage( size, IPL_DEPTH_32F, 1 );
+        x->mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
+    }
+
+    cvCvtColor( img, x->buf[x->last], CV_BGR2GRAY ); // convert frame to grayscale
+
+    idx2 = (x->last + 1) % x->frame_buffer_num; // index of (last - (N-1))th frame
+    x->last = idx2;
+
+    silh = x->buf[idx2];
+    cvAbsDiff( x->buf[idx1], x->buf[idx2], silh ); // get difference between frames
+    
+    cvThreshold( silh, silh, diff_threshold, 1, CV_THRESH_BINARY ); // and threshold it
+    cvUpdateMotionHistory( silh, x->mhi, timestamp, x->x_mhi_duration ); // update MHI
+
+    // convert MHI to red 8u image
+    cvCvtScale( x->mhi, x->mask, 255./x->x_mhi_duration,
+                (x->x_mhi_duration - timestamp)*255./x->x_mhi_duration );
+    cvZero( dst );
+    cvCvtPlaneToPix( x->mask, 0, 0, 0, dst );
+
+    // calculate motion gradient orientation and valid orientation mask
+    cvCalcMotionGradient( x->mhi, x->mask, x->orient, x->max_time_delta, x->min_time_delta, 3 ); 
+    
+    if( !x->storage )
+        x->storage = cvCreateMemStorage(0);
+    else
+        cvClearMemStorage(x->storage);
+    
+    // segment motion: get sequence of motion components
+    // segmask is marked motion components map. It is not used further
+    seq = cvSegmentMotion( x->mhi, x->segmask, x->storage, timestamp, x->max_time_delta ); 
+
+    // iterate through the motion components,
+    // One more iteration (i == -1) corresponds to the whole image (global motion)
+    for( i = -1; i < seq->total; i++ ) {
+
+        if( i < 0 ) { // case of the whole image
+            comp_rect = cvRect( 0, 0, size.width, size.height );
+            color = CV_RGB(255,255,255);
+            magnitude = 100;
+        }
+        else { // i-th motion component
+            comp_rect = ((CvConnectedComp*)cvGetSeqElem( seq, i ))->rect;
+            if(( comp_rect.width + comp_rect.height < x->min_size )||( comp_rect.width + comp_rect.height > x->max_size )) // reject very small/big components 
+                continue;
+            color = CV_RGB(255,0,0);
+            magnitude = (comp_rect.width + comp_rect.height) / 4;
+        }
+
+        // select component ROI
+        cvSetImageROI( silh, comp_rect );
+        cvSetImageROI( x->mhi, comp_rect );
+        cvSetImageROI( x->orient, comp_rect );
+        cvSetImageROI( x->mask, comp_rect );
+
+        // calculate orientation
+        angle = cvCalcGlobalOrientation( x->orient, x->mask, x->mhi, timestamp, x->x_mhi_duration);
+        angle = 360.0 - angle;  // adjust for images with top-left origin
+
+        count = cvNorm( silh, 0, CV_L1, 0 ); // calculate number of points within silhouette ROI
+
+        cvResetImageROI( x->mhi );
+        cvResetImageROI( x->orient );
+        cvResetImageROI( x->mask );
+        cvResetImageROI( silh );
+
+        // check for the case of little motion
+        if( count < comp_rect.width*comp_rect.height * 0.05 )
+            continue;
+
+        // draw a clock with arrow indicating the direction
+        center = cvPoint( (comp_rect.x + comp_rect.width/2),
+                          (comp_rect.y + comp_rect.height/2) );
+
+        cvCircle( dst, center, cvRound(magnitude*1.2), color, 3, CV_AA, 0 );
+        cvLine( dst, center, cvPoint( cvRound( center.x + magnitude*cos(angle*CV_PI/180)),
+                cvRound( center.y - magnitude*sin(angle*CV_PI/180))), color, 3, CV_AA, 0 );
+
+
+    	 t_atom rlist[6];
+         SETFLOAT(&rlist[0], i);
+         SETFLOAT(&rlist[1], center.x);
+         SETFLOAT(&rlist[2], center.y);
+         SETFLOAT(&rlist[3], comp_rect.width);
+         SETFLOAT(&rlist[4], comp_rect.height);
+         SETFLOAT(&rlist[5], angle);
+    	 outlet_list( x->x_dataout, 0, 6, rlist );
+    }
+}
+
+
+
+
+static void pdp_opencv_motempl_process_rgb(t_pdp_opencv_motempl *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;
+      
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height)) 
+    {
+
+    	post("pdp_opencv_motempl :: resizing plugins");
+	
+    	//cv_freeplugins(x);
+
+    	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->motion );
+   
+	//Create cv_images 
+    	x->image = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
+    	x->motion = cvCreateImage( cvSize(x->image->width,x->image->height), 8, 3 );
+    	cvZero( x->motion );
+    	x->motion->origin = x->image->origin;
+    }
+    
+    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 );
+    
+    
+    // FEM UNA COPIA DEL PACKET A x->grey->imageData ... http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html aqui veiem la estructura de IplImage
+    memcpy( x->image->imageData, data, x->x_size*3 );
+        
+    pdp_opencv_motempl_update_mhi( x, x->image, x->motion, x->x_thresh );
+
+    memcpy( newdata, x->motion->imageData, x->x_size*3 );
+
+ 
+    return;
+}
+
+static void pdp_opencv_motempl_thresh(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	x->x_thresh = (int)f;
+}
+
+static void pdp_opencv_motempl_min_size(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>=0) x->min_size = (int)f;
+}
+
+static void pdp_opencv_motempl_max_size(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>=0) x->max_size = (int)f;
+}
+
+static void pdp_opencv_motempl_mhi_duration(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>=1) x->x_mhi_duration = (int)f;
+}
+
+static void pdp_opencv_motempl_max_time_delta(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>0) x->max_time_delta = f;
+}
+
+static void pdp_opencv_motempl_min_time_delta(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>0) x->min_time_delta = f;
+}
+
+static void pdp_opencv_motempl_frame_buffer_num(t_pdp_opencv_motempl *x, t_floatarg f)
+{
+	if (f>=1) x->frame_buffer_num = (int)f;
+	x->buf = NULL;
+}
+
+static void pdp_opencv_motempl_sendpacket(t_pdp_opencv_motempl *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_motempl_process(t_pdp_opencv_motempl *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_motempl_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_motempl_process_rgb, pdp_opencv_motempl_sendpacket, &x->x_queue_id);
+	    break;
+
+	default:
+	    /* don't know the type, so dont pdp_opencv_motempl_process */
+	    break;
+	    
+	}
+    }
+
+}
+
+static void pdp_opencv_motempl_input_0(t_pdp_opencv_motempl *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_motempl_process(x);
+    }
+}
+
+static void pdp_opencv_motempl_free(t_pdp_opencv_motempl *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->image );
+    	cvReleaseImage( &x->motion );
+}
+
+t_class *pdp_opencv_motempl_class;
+
+
+void *pdp_opencv_motempl_new(t_floatarg f)
+{
+    int i;
+
+    t_pdp_opencv_motempl *x = (t_pdp_opencv_motempl *)pd_new(pdp_opencv_motempl_class);
+    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("threshold"));
+    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("min_size"));
+    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("max_size"));
+
+    x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
+    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->x_thresh = 30;
+    x->x_mhi_duration = 1;
+	
+    x->last = 0;
+    // various tracking parameters (in seconds)
+    x->max_time_delta = 0.5;
+    x->min_time_delta = 0.05;
+    // number of cyclic frame buffer used for motion detection
+    // (should, probably, depend on FPS)
+    x->frame_buffer_num = 4;
+
+    x->min_size=50;
+    x->max_size=500; 
+    
+    x->image = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
+    x->motion = cvCreateImage( cvSize(x->image->width,x->image->height), 8, 3 );
+    cvZero( x->motion );
+    x->motion->origin = x->image->origin;
+
+    x->storage = NULL; 
+
+
+    return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_motempl_setup(void)
+{
+
+    post( "		pdp_opencv_motempl");
+    pdp_opencv_motempl_class = class_new(gensym("pdp_opencv_motempl"), (t_newmethod)pdp_opencv_motempl_new,
+    	(t_method)pdp_opencv_motempl_free, sizeof(t_pdp_opencv_motempl), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_thresh, gensym("threshold"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_mhi_duration, gensym("mhi_duration"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_max_time_delta, gensym("max_time_delta"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_min_time_delta, gensym("min_time_delta"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_frame_buffer_num, gensym("frame_buffer_num"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_min_size, gensym("min_size"),  A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_max_size, gensym("max_size"),  A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif