added Horn/Schunck and Lucas/Kanade Optical Flow objects

svn path=/trunk/externals/pdp_opencv/; revision=12597

1 files changed, 366 insertions, 0 deletions

diff --git a/pdp_opencv_of_hs.cc b/pdp_opencv_of_hs.cc
new file mode 100755
index 0000000..5eeb005
--- /dev/null
+++ b/pdp_opencv_of_hs.cc
@@ -0,0 +1,366 @@
+/*
+ *   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.
+ *
+ *   Horn and Schunck optical flow algorithm
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <dirent.h>
+#include <limits.h>
+#include <dlfcn.h>
+#include <ctype.h>
+#include <math.h>
+
+#include "pdp.h"
+
+#ifndef _EiC
+#include "cv.h"
+#endif
+
+typedef struct pdp_opencv_of_hs_struct
+{
+  t_object x_obj;
+  t_float x_f;
+
+  t_outlet *x_outlet0;
+  t_outlet *x_outlet1;
+  t_outlet *x_outlet2;
+  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;
+
+  // OpenCv structures
+  IplImage *image, *grey, *prev_grey, *swap_temp;
+  IplImage *x_velx, *x_vely;
+  CvSize   x_velsize;
+  double x_lambda;
+
+  int x_nightmode;
+  int x_threshold;
+  int x_useprevious;
+  int x_minblocks;
+  CvFont font;
+
+} t_pdp_opencv_of_hs;
+
+static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *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,im;
+  int marked;
+  int px,py;
+  double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0;
+  int nbblocks=0;
+  CvPoint orig, dest;
+  double angle=0.0;
+  double hypotenuse=0.0;
+  char tindex[4];
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height) || (!x->image)) 
+    {
+
+      post("pdp_opencv_of_hs :: 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;
+
+      x->x_velsize.width = x->x_width;
+      x->x_velsize.height = x->x_height;
+    
+      //Destroy cv_images
+      cvReleaseImage( &x->image );
+      cvReleaseImage( &x->grey );
+      cvReleaseImage( &x->prev_grey );
+      cvReleaseImage( &x->x_velx );
+      cvReleaseImage( &x->x_vely );
+   
+      //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 );
+      x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+
+      x->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 );
+      x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 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->x_nightmode )
+        cvZero( x->image );
+        
+    cvCalcOpticalFlowHS( x->prev_grey, x->grey, 
+                         x->x_useprevious, x->x_velx, x->x_vely,
+                         x->x_lambda, 
+                         cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03) );
+
+    nbblocks = 0;
+    for( py=0; py<x->x_velsize.height; py++ ) 
+    {
+      for( px=0; px<x->x_velsize.width; px++ )
+      {
+        // post( "pdp_opencv_of_hs : (%d,%d) values (%f,%f)", px, py, velxf, velyf );
+        orig.x = px;
+        orig.y = py;
+        dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]);
+        dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]);
+        angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] );
+        hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) );
+
+        /* Now draw the tips of the arrow. I do some scaling so that the
+        * tips look proportional to the main line of the arrow.
+        */
+        if (hypotenuse >= x->x_threshold)
+        {
+          cvLine( x->image, orig, dest, CV_RGB(0,255,0), 1, CV_AA, 0 );
+
+          orig.x = (int) (dest.x - (6) * cos(angle + M_PI / 4));
+          orig.y = (int) (dest.y + (6) * sin(angle + M_PI / 4));
+          cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 );
+          orig.x = (int) (dest.x - (6) * cos(angle - M_PI / 4));
+          orig.y = (int) (dest.y + (6) * sin(angle - M_PI / 4));
+          cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 );
+          meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1);
+          meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1);
+          if ( hypotenuse > maxamp )
+          {
+             maxamp = hypotenuse;
+             maxangle = angle;
+          } 
+          // post( "pdp_opencv_of_hs : block %d : amp : %f : angle : %f", nbblocks, hypotenuse, (angle*180)/M_PI );
+          nbblocks++;
+        } 
+
+      }
+    }
+
+    meanangle=-atan2( meany, meanx ); 
+    // post( "pdp_opencv_of_hs : meanangle : %f", (meanangle*180)/M_PI );
+
+    if ( nbblocks >= x->x_minblocks )
+    {
+      orig.x = (int) (x->x_width/2);
+      orig.y = (int) (x->x_height/2);
+      dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle));
+      dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle));
+      cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
+      orig.x = (int) (dest.x - (6) * cos(meanangle + M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(meanangle + M_PI / 4));
+      cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
+      orig.x = (int) (dest.x - (6) * cos(meanangle - M_PI / 4));
+      orig.y = (int) (dest.y + (6) * sin(meanangle - M_PI / 4));
+      cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 );
+
+      // outputs the average angle of movement
+      meanangle = (meanangle*180)/M_PI;
+      SETFLOAT(&x->x_list[0], meanangle);
+      outlet_list( x->x_outlet1, 0, 1, x->x_list );
+
+      // outputs the amplitude and angle of the maximum movement
+      maxangle = (maxangle*180)/M_PI;
+      SETFLOAT(&x->x_list[0], maxamp);
+      SETFLOAT(&x->x_list[1], maxangle);
+      outlet_list( x->x_outlet2, 0, 2, x->x_list );
+    }
+
+    memcpy( x->prev_grey->imageData, x->grey->imageData, x->x_size );
+
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+    return;
+}
+
+static void pdp_opencv_of_hs_nightmode(t_pdp_opencv_of_hs *x, t_floatarg f)
+{
+  if ((f==0.0)||(f==1.0)) x->x_nightmode = (int)f;
+}
+
+static void pdp_opencv_of_hs_useprevious(t_pdp_opencv_of_hs *x, t_floatarg f)
+{
+  if ((f==0.0)||(f==1.0)) x->x_useprevious = (int)f;
+}
+
+static void pdp_opencv_of_hs_minblocks(t_pdp_opencv_of_hs *x, t_floatarg f)
+{
+  if (f>=1.0) x->x_minblocks = (int)f;
+}
+
+static void pdp_opencv_of_hs_threshold(t_pdp_opencv_of_hs *x, t_floatarg f)
+{
+  if (f>=0.0) x->x_threshold = (int)f;
+}
+
+static void pdp_opencv_of_hs_lambda(t_pdp_opencv_of_hs *x, t_floatarg flambda )
+{
+  if (flambda>0.0) x->x_lambda = (double)flambda;
+}
+
+static void pdp_opencv_of_hs_sendpacket(t_pdp_opencv_of_hs *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_of_hs_process(t_pdp_opencv_of_hs *x)
+{
+   int encoding;
+   t_pdp *header = 0;
+
+   /* check if image data packets are compatible */
+   if ( (header = pdp_packet_header(x->x_packet0))
+     && (PDP_BITMAP == header->type)){
+    
+     /* pdp_opencv_of_hs_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_of_hs_process_rgb, (void*)pdp_opencv_of_hs_sendpacket, &x->x_queue_id);
+      break;
+
+     default:
+      /* don't know the type, so dont pdp_opencv_of_hs_process */
+      break;
+      
+     }
+   }
+
+}
+
+static void pdp_opencv_of_hs_input_0(t_pdp_opencv_of_hs *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_of_hs_process(x);
+    }
+}
+
+static void pdp_opencv_of_hs_free(t_pdp_opencv_of_hs *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->grey );
+    cvReleaseImage( &x->prev_grey );
+    cvReleaseImage( &x->x_velx );
+    cvReleaseImage( &x->x_vely );
+}
+
+t_class *pdp_opencv_of_hs_class;
+
+void *pdp_opencv_of_hs_new(t_floatarg f)
+{
+  int i;
+
+  t_pdp_opencv_of_hs *x = (t_pdp_opencv_of_hs *)pd_new(pdp_opencv_of_hs_class);
+
+  x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
+  x->x_outlet1 = outlet_new(&x->x_obj, &s_anything);
+  x->x_outlet2 = 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_nightmode=0;
+  x->x_threshold=100;
+  x->x_lambda = 1.0;
+  x->x_useprevious = 0;
+  x->x_minblocks = 10;
+  x->x_velsize.width = x->x_width; 
+  x->x_velsize.height = x->x_height; 
+
+  // 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 );
+  x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+
+  x->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 );
+  x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 );
+
+  return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_of_hs_setup(void)
+{
+
+    post( "    pdp_opencv_of_hs");
+    pdp_opencv_of_hs_class = class_new(gensym("pdp_opencv_of_hs"), (t_newmethod)pdp_opencv_of_hs_new,
+      (t_method)pdp_opencv_of_hs_free, sizeof(t_pdp_opencv_of_hs), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_nightmode, gensym("nightmode"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_threshold, gensym("threshold"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_useprevious, gensym("useprevious"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_lambda, gensym("lambda"), A_FLOAT, A_NULL );   
+    class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_minblocks, gensym("minblocks"), A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif