diff options
Diffstat (limited to 'pdp_opencv_lk.cc')
| -rwxr-xr-x | pdp_opencv_lk.cc | 63 |
1 files changed, 39 insertions, 24 deletions
diff --git a/pdp_opencv_lk.cc b/pdp_opencv_lk.cc index 432c4e7..e47d95d 100755 --- a/pdp_opencv_lk.cc +++ b/pdp_opencv_lk.cc @@ -93,8 +93,9 @@ static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *x) 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 i,j,k,im,oi; int marked; + float dist, odist; if ((x->x_width != (t_int)header->info.image.width) || (x->x_height != (t_int)header->info.image.height) || (!x->image)) @@ -209,7 +210,7 @@ static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *x) cvCalcSubdivVoronoi2D( x->x_subdiv ); } // only add points included in (color-threshold)<p<(color+treshold) - if ( ( x->x_delaunay > 0 ) && ( x->x_xmark[x->x_delaunay-1] != -1 ) ) + if ( ( x->x_delaunay > 0 ) && ( x->x_xmark[x->x_delaunay] != -1 ) ) { int px = cvPointFrom32f(x->points[1][i]).x; int py = cvPointFrom32f(x->points[1][i]).y; @@ -227,9 +228,9 @@ static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *x) uchar green = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*ppx))[ppy*3+1]; uchar blue = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*ppx))[ppy*3+2]; - uchar pred = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3]; - uchar pgreen = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3+1]; - uchar pblue = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay-1]))[x->x_ymark[x->x_delaunay-1]*3+2]; + uchar pred = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay]))[x->x_ymark[x->x_delaunay]*3]; + uchar pgreen = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay]))[x->x_ymark[x->x_delaunay]*3+1]; + uchar pblue = ((uchar*)(x->oimage->imageData + x->oimage->widthStep*x->x_xmark[x->x_delaunay]))[x->x_ymark[x->x_delaunay]*3+2]; int diff = abs(red-pred) + abs(green-pgreen) + abs(blue-pblue); @@ -247,28 +248,42 @@ static void pdp_opencv_lk_process_rgb(t_pdp_opencv_lk *x) cvCircle( x->image, cvPointFrom32f(x->points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0); marked=0; + oi=-1; + dist=(x->x_width>x->x_height)?x->x_width:x->x_height; + for ( im=0; im<MAX_MARKERS; im++ ) { + + if ( x->x_xmark[im] == -1 ) continue; // i don't see the point + + odist=sqrt( pow( x->points[1][i].x - x->x_xmark[im], 2 ) + pow( x->points[1][i].y - x->x_ymark[im], 2 ) ); + // search for this point - if ( x->x_xmark[im] != -1.0 ) + if ( odist <= x->x_maxmove ) { - if ( ( abs( x->points[1][i].x - x->x_xmark[im] ) <= x->x_maxmove ) && ( abs( x->points[1][i].y - x->x_ymark[im] ) <= x->x_maxmove ) ) - { - char tindex[4]; - sprintf( tindex, "%d", im+1 ); - cvPutText( x->image, tindex, cvPointFrom32f(x->points[1][i]), &x->font, CV_RGB(255,255,255)); - x->x_xmark[im]=x->points[1][i].x; - x->x_ymark[im]=x->points[1][i].y; - x->x_found[im]=x->x_ftolerance; - marked=1; - SETFLOAT(&x->x_list[0], im+1); - SETFLOAT(&x->x_list[1], x->x_xmark[im]); - SETFLOAT(&x->x_list[2], x->x_ymark[im]); - outlet_list( x->x_outlet1, 0, 3, x->x_list ); - } + if ( odist < dist ) + { + dist = odist; + marked=1; + oi=im; + } } } + if ( oi !=-1 ) + { + char tindex[4]; + sprintf( tindex, "%d", oi ); + cvPutText( x->image, tindex, cvPointFrom32f(x->points[1][i]), &x->font, CV_RGB(255,255,255)); + x->x_xmark[oi]=x->points[1][i].x; + x->x_ymark[oi]=x->points[1][i].y; + x->x_found[oi]=x->x_ftolerance; + SETFLOAT(&x->x_list[0], oi); + SETFLOAT(&x->x_list[1], x->x_xmark[oi]); + SETFLOAT(&x->x_list[2], x->x_ymark[oi]); + outlet_list( x->x_outlet1, 0, 3, x->x_list ); + } + if ( x->x_markall && !marked ) { for ( im=0; im<MAX_MARKERS; im++) @@ -515,8 +530,8 @@ static void pdp_opencv_lk_delete(t_pdp_opencv_lk *x, t_floatarg findex ) return; } - x->x_xmark[(int)findex-1] = -1; - x->x_ymark[(int)findex-1] = -1; + x->x_xmark[(int)findex] = -1; + x->x_ymark[(int)findex] = -1; } static void pdp_opencv_lk_clear(t_pdp_opencv_lk *x ) @@ -637,8 +652,8 @@ void *pdp_opencv_lk_new(t_floatarg f) x->add_remove_pt = 0; x->quality = 0.1; x->min_distance = 10; - x->x_maxmove = 8; - x->x_ftolerance = 8; + x->x_maxmove = 10; + x->x_ftolerance = 5; x->x_delaunay = -1; x->x_threshold = -1; |