diff options
| -rw-r--r-- | pdp_opencv_contours_boundingrect.c | 135 |
1 files changed, 127 insertions, 8 deletions
diff --git a/pdp_opencv_contours_boundingrect.c b/pdp_opencv_contours_boundingrect.c index c01a82b..714dc26 100644 --- a/pdp_opencv_contours_boundingrect.c +++ b/pdp_opencv_contours_boundingrect.c @@ -32,6 +32,8 @@ #include "cv.h" #endif +#define MAX_MARKERS 100 + typedef struct pdp_opencv_contours_boundingrect_struct { t_object x_obj; @@ -45,6 +47,11 @@ typedef struct pdp_opencv_contours_boundingrect_struct int x_packet1; int x_dropped; int x_queue_id; + int x_xmark[MAX_MARKERS]; + int x_ymark[MAX_MARKERS]; + int x_found[MAX_MARKERS]; + int x_ftolerance; + int x_mmove; int x_width; int x_height; @@ -55,15 +62,43 @@ typedef struct pdp_opencv_contours_boundingrect_struct int minarea; int maxarea; IplImage *image, *gray, *cnt_img; + CvFont font; } t_pdp_opencv_contours_boundingrect; +static int pdp_opencv_contours_boundingrect_mark(t_pdp_opencv_contours_boundingrect *x, t_floatarg fx, t_floatarg fy ) +{ + int i; + + if ( ( fx < 0.0 ) || ( fx > x->x_width ) || ( fy < 0 ) || ( fy > x->x_height ) ) + { + return -1; + } + + for ( i=0; i<MAX_MARKERS; i++) + { + if ( x->x_xmark[i] == -1 ) + { + x->x_xmark[i] = (int)fx; + x->x_ymark[i] = (int)fy; + x->x_found[i] = x->x_ftolerance; + return i; + } + } + + post( "pdp_opencv_contours_boundingrect : max markers reached" ); + return -1; +} + static void pdp_opencv_contours_boundingrect_process_rgb(t_pdp_opencv_contours_boundingrect *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); + char tindex[4]; + int i = 0; // Indicator of cycles. + int im = 0; // Indicator of markers. if ((x->x_width != (t_int)header->info.image.width) || (x->x_height != (t_int)header->info.image.height)) @@ -94,8 +129,6 @@ static void pdp_opencv_contours_boundingrect_process_rgb(t_pdp_opencv_contours_b 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 image->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 ); @@ -133,15 +166,47 @@ static void pdp_opencv_contours_boundingrect_process_rgb(t_pdp_opencv_contours_b cvCopy(x->image, x->cnt_img, NULL); // cvZero( x->cnt_img ); - int i = 0; // Indicator of cycles. + for ( im=0; im<MAX_MARKERS; im++ ) + { + if ( x->x_xmark[im] != -1.0 ) + { + x->x_found[im]--; + } + } + for( ; contours != 0; contours = contours->h_next ) { int count = contours->total; // This is number point in contour CvRect rect; + int oi, found; rect = cvContourBoundingRect( contours, 1); if ( ( (rect.width*rect.height) > x->minarea ) && ( (rect.width*rect.height) < x->maxarea ) ) { + + found = 0; + oi = -1; + for ( im=0; im<MAX_MARKERS; im++ ) + { + // check if the object is already known + if ( ( abs( rect.x - x->x_xmark[im] ) < x->x_mmove ) && ( abs( rect.y - x->x_ymark[im] ) < x->x_mmove ) ) + { + oi=im; + found=1; + x->x_found[im] = x->x_ftolerance; + x->x_xmark[im] = rect.x; + x->x_ymark[im] = rect.y; + break; + } + } + // new object detected + if ( !found ) + { + oi = pdp_opencv_contours_boundingrect_mark(x, rect.x, rect.y ); + } + cvRectangle( x->cnt_img, cvPoint(rect.x,rect.y), cvPoint(rect.x+rect.width,rect.y+rect.height), CV_RGB(255,0,0), 2, 8 , 0 ); + sprintf( tindex, "%d", i ); + cvPutText( x->cnt_img, tindex, cvPoint(rect.x,rect.y), &x->font, CV_RGB(255,255,255)); SETFLOAT(&x->rlist[0], i); SETFLOAT(&x->rlist[1], rect.x); @@ -151,15 +216,25 @@ static void pdp_opencv_contours_boundingrect_process_rgb(t_pdp_opencv_contours_b outlet_list( x->x_dataout, 0, 5, x->rlist ); i++; - } - outlet_float( x->x_countout, i ); - + } + } + outlet_float( x->x_countout, i ); + + // delete lost objects + for ( im=0; im<MAX_MARKERS; im++ ) + { + if ( x->x_found[im] < 0 ) + { + x->x_xmark[im] = -1.0; + x->x_ymark[im] = -1,0; + x->x_found[im] = x->x_ftolerance; + post( "deleted point %d", im ); + } } cvReleaseMemStorage( &stor02 ); memcpy( newdata, x->cnt_img->imageData, x->x_size*3 ); - return; } @@ -179,6 +254,42 @@ static void pdp_opencv_contours_boundingrect_maxarea(t_pdp_opencv_contours_bound x->maxarea = (int)f; } +static void pdp_opencv_contours_boundingrect_ftolerance(t_pdp_opencv_contours_boundingrect *x, t_floatarg f) +{ + if ((int)f>=1) x->x_ftolerance = (int)f; +} + +static void pdp_opencv_contours_boundingrect_mmove(t_pdp_opencv_contours_boundingrect *x, t_floatarg f) +{ + if ((int)f>=1) x->x_mmove = (int)f; +} + +static void pdp_opencv_contours_boundingrect_delete(t_pdp_opencv_contours_boundingrect *x, t_floatarg findex ) +{ + int i; + + if ( ( findex < 1.0 ) || ( findex > 10 ) ) + { + return; + } + + x->x_xmark[(int)findex-1] = -1; + x->x_ymark[(int)findex-1] = -1; +} + +static void pdp_opencv_contours_boundingrect_clear(t_pdp_opencv_contours_boundingrect *x ) +{ + int i; + + for ( i=0; i<MAX_MARKERS; i++) + { + x->x_xmark[i] = -1; + x->x_ymark[i] = -1; + x->x_found[i] = x->x_ftolerance; + } +} + + static void pdp_opencv_contours_boundingrect_sendpacket(t_pdp_opencv_contours_boundingrect *x) { /* release the packet */ @@ -277,10 +388,16 @@ void *pdp_opencv_contours_boundingrect_new(t_floatarg f) x->minarea = 10*10; x->maxarea = 320*240; + x->x_ftolerance = 5; + x->x_mmove = 5; + x->image = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3); x->gray = cvCreateImage(cvSize(x->image->width,x->image->height), IPL_DEPTH_8U, 1); x->cnt_img = cvCreateImage(cvSize(x->image->width,x->image->height), IPL_DEPTH_8U, 3); + // initialize font + cvInitFont( &x->font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 ); + //contours = 0; return (void *)x; } @@ -302,7 +419,9 @@ void pdp_opencv_contours_boundingrect_setup(void) class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_minarea, gensym("minarea"), A_FLOAT, A_NULL ); class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_maxarea, gensym("maxarea"), A_FLOAT, A_NULL ); - + class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_ftolerance, gensym("ftolerance"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_mmove, gensym("maxmove"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_contours_boundingrect_class, (t_method)pdp_opencv_contours_boundingrect_clear, gensym("clear"), A_NULL ); } |