diff options
| -rw-r--r-- | Makefile | 2 | ||||
| -rw-r--r-- | pdp_opencv_camshift-help.pd | 124 | ||||
| -rw-r--r-- | pdp_opencv_camshift.cc | 370 |
3 files changed, 495 insertions, 1 deletions
@@ -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; +#X connect 7 0 10 0; +#X connect 8 0 10 0; +#X connect 9 0 10 0; +#X connect 10 0 29 0; +#X connect 11 0 10 0; +#X connect 12 0 11 0; +#X connect 13 0 29 0; +#X connect 14 0 13 0; +#X connect 15 0 14 0; +#X connect 16 0 14 0; +#X connect 17 0 18 0; +#X connect 18 0 13 0; +#X connect 19 0 17 0; +#X connect 20 0 13 0; +#X connect 21 0 20 0; +#X connect 22 0 21 0; +#X connect 22 0 15 0; +#X connect 25 0 13 1; +#X connect 27 0 41 0; +#X connect 29 0 27 0; +#X connect 29 0 43 0; +#X connect 29 1 53 0; +#X connect 30 0 29 0; +#X connect 32 0 30 0; +#X connect 33 0 29 0; +#X connect 34 0 33 0; +#X connect 35 0 36 0; +#X connect 36 0 29 0; +#X connect 37 0 38 0; +#X connect 38 0 29 0; +#X connect 41 0 42 0; +#X connect 42 0 29 0; +#X connect 43 0 27 0; +#X connect 46 0 48 0; +#X connect 47 0 49 0; +#X connect 48 0 29 0; +#X connect 49 0 29 0; +#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 |