1 files changed, 345 insertions, 0 deletions

diff --git a/pdp_opencv_lk.c b/pdp_opencv_lk.c
new file mode 100644
index 0000000..32a7488
--- /dev/null
+++ b/pdp_opencv_lk.c
@@ -0,0 +1,345 @@
+/*
+ *   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
+
+
+const int MAX_COUNT = 500;
+
+typedef struct pdp_opencv_lk_struct
+{
+    t_object x_obj;
+    t_float x_f;
+
+    t_outlet *x_outlet0;
+    int x_packet0;
+    int x_packet1;
+    int x_dropped;
+    int x_queue_id;
+
+    int x_width;
+    int x_height;
+    int x_size;
+
+    int x_infosok; 
+
+    int win_size;
+
+    // The output and temporary images
+	IplImage *image, *grey, *prev_grey, *pyramid, *prev_pyramid, *swap_temp;
+	
+	CvPoint2D32f* points[2], *swap_points;
+	char* status;
+	int count;
+	int need_to_init;
+	int night_mode;
+	int flags;
+	int add_remove_pt;
+	CvPoint pt;
+
+    
+} t_pdp_opencv_lk;
+
+
+
+static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *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;
+      
+
+    if ((x->x_width != (t_int)header->info.image.width) || 
+        (x->x_height != (t_int)header->info.image.height) || (!x->image)) 
+    {
+
+    	post("pdp_opencv_lk :: 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->grey );
+    	cvReleaseImage( &x->prev_grey );
+    	cvReleaseImage( &x->pyramid );
+    	cvReleaseImage( &x->prev_pyramid );
+   
+	//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->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+    	x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+            x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
+            x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
+            x->status = (char*)cvAlloc(MAX_COUNT);
+    }
+    
+    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 );
+        
+        cvCvtColor( x->image, x->grey, CV_BGR2GRAY );
+
+        if( x->night_mode )
+            cvZero( x->image );
+        
+        if( x->need_to_init )
+        {
+            /* automatic initialization */
+            IplImage* eig = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 );
+            IplImage* temp = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 );
+            double quality = 0.01;
+            double min_distance = 10;
+
+            x->count = MAX_COUNT;
+            cvGoodFeaturesToTrack( x->grey, eig, temp, x->points[1], &x->count,
+                                   quality, min_distance, 0, 3, 0, 0.04 );
+            cvFindCornerSubPix( x->grey, x->points[1], x->count,
+                cvSize(x->win_size,x->win_size), cvSize(-1,-1),
+                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+            cvReleaseImage( &eig );
+            cvReleaseImage( &temp );
+
+            x->add_remove_pt = 0;
+        }
+        else if( x->count > 0 )
+        {
+            cvCalcOpticalFlowPyrLK( x->prev_grey, x->grey, x->prev_pyramid, x->pyramid,
+                x->points[0], x->points[1], x->count, cvSize(x->win_size,x->win_size), 3, x->status, 0,
+                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), x->flags );
+            x->flags |= CV_LKFLOW_PYR_A_READY;
+            for( i = k = 0; i < x->count; i++ )
+            {
+                if( x->add_remove_pt )
+                {
+                    double dx = x->pt.x - x->points[1][i].x;
+                    double dy = x->pt.y - x->points[1][i].y;
+
+                    if( dx*dx + dy*dy <= 25 )
+                    {
+                        x->add_remove_pt = 0;
+                        continue;
+                    }
+                }
+                
+                if( !x->status[i] )
+                    continue;
+                
+                x->points[1][k++] = x->points[1][i];
+                cvCircle( x->image, cvPointFrom32f(x->points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0);
+            }
+            x->count = k;
+        }
+
+        if( x->add_remove_pt && x->count < MAX_COUNT )
+        {
+            x->points[1][x->count++] = cvPointTo32f(x->pt);
+            cvFindCornerSubPix( x->grey, x->points[1] + x->count - 1, 1,
+                cvSize(x->win_size,x->win_size), cvSize(-1,-1),
+                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03));
+            x->add_remove_pt = 0;
+        }
+
+        CV_SWAP( x->prev_grey, x->grey, x->swap_temp );
+        CV_SWAP( x->prev_pyramid, x->pyramid, x->swap_temp );
+        CV_SWAP( x->points[0], x->points[1], x->swap_points );
+        x->need_to_init = 0;
+
+    memcpy( newdata, x->image->imageData, x->x_size*3 );
+
+ 
+    return;
+}
+
+
+static void pdp_opencv_lk_thresh(t_pdp_opencv_lk *x, t_floatarg f)
+{
+	if ((f==1)||(f==3)||(f==5)||(f==7)) x->win_size = (int)f;
+}
+
+static void pdp_opencv_lk_sendpacket(t_pdp_opencv_lk *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_lk_process(t_pdp_opencv_lk *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_lk_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_lk_process_rgb, pdp_opencv_lk_sendpacket, &x->x_queue_id);
+	    break;
+
+	default:
+	    /* don't know the type, so dont pdp_opencv_lk_process */
+	    break;
+	    
+	}
+    }
+
+}
+
+static void pdp_opencv_lk_input_0(t_pdp_opencv_lk *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_lk_process(x);
+    }
+}
+
+static void pdp_opencv_lk_free(t_pdp_opencv_lk *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->pyramid );
+    	cvReleaseImage( &x->prev_pyramid );
+}
+
+t_class *pdp_opencv_lk_class;
+
+
+void *pdp_opencv_lk_new(t_floatarg f)
+{
+    int i;
+
+    t_pdp_opencv_lk *x = (t_pdp_opencv_lk *)pd_new(pdp_opencv_lk_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_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->win_size = 10;
+	
+	IplImage *image = 0, *grey = 0, *prev_grey = 0, *pyramid = 0, *prev_pyramid = 0, *swap_temp;
+
+	x->points [0] = 0;
+	x->points [1] = 0;
+	x->status = 0;
+	x->count = 0;
+	x->need_to_init = 1;
+	x->night_mode = 0;
+	x->flags = 0;
+	x->add_remove_pt = 0;
+
+    
+    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->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+    x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 );
+            x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
+            x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0]));
+            x->status = (char*)cvAlloc(MAX_COUNT);
+
+
+    return (void *)x;
+}
+
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+void pdp_opencv_lk_setup(void)
+{
+
+    post( "		pdp_opencv_lk");
+    pdp_opencv_lk_class = class_new(gensym("pdp_opencv_lk"), (t_newmethod)pdp_opencv_lk_new,
+    	(t_method)pdp_opencv_lk_free, sizeof(t_pdp_opencv_lk), 0, A_DEFFLOAT, A_NULL);
+
+    class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
+    class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_thresh, gensym("win_size"),  A_FLOAT, A_NULL );   
+
+}
+
+#ifdef __cplusplus
+}
+#endif