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Diffstat (limited to 'pdp_opencv_surf.cc')
-rw-r--r--pdp_opencv_surf.cc142
1 files changed, 81 insertions, 61 deletions
diff --git a/pdp_opencv_surf.cc b/pdp_opencv_surf.cc
index 99c7642..1614d4c 100644
--- a/pdp_opencv_surf.cc
+++ b/pdp_opencv_surf.cc
@@ -108,6 +108,8 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
int i,j,k,im;
char tindex[4];
int descsize;
+ int oi;
+ float dist, odist;
if ((x->x_width != (t_int)header->info.image.width) ||
(x->x_height != (t_int)header->info.image.height) || (!x->image))
@@ -184,7 +186,7 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
}
// 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(r1->pt).x;
int py = cvPointFrom32f(r1->pt).y;
@@ -202,9 +204,9 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *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);
@@ -221,6 +223,9 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
cvCircle( x->image, cvPointFrom32f(r1->pt), 3, CV_RGB(0,255,0), -1, 8,0);
+ oi=-1;
+ dist=(x->x_width>x->x_height)?x->x_width:x->x_height;
+
// mark the point if it is not already
if ( x->x_markall )
{
@@ -228,16 +233,18 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
for ( im=0; im<MAX_MARKERS; im++ )
{
- if ( x->x_xmark[im] != -1.0 )
+
+ if ( x->x_xmark[im] == -1 ) continue; // no points
+
+ odist=sqrt( pow( r1->pt.x-x->x_xmark[im], 2 ) + pow( r1->pt.y-x->x_ymark[im], 2 ) );
+
+ if ( odist <= x->x_maxmove )
{
- if ( ( abs( r1->pt.x - x->x_xmark[im] ) <= x->x_maxmove ) && ( abs( r1->pt.y - x->x_ymark[im] ) <= x->x_maxmove ) )
- {
- marked = 1;
- // post( "pdp_opencv_surf : point already marked" );
- break;
- }
+ marked = 1;
+ break;
}
}
+
if ( !marked )
{
for ( i=0; i<MAX_MARKERS; i++)
@@ -260,6 +267,11 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
int neighbour = -1;
double d, dist1 = 1000000, dist2 = 1000000;
+ oi=-1;
+ dist=(x->x_width>x->x_height)?x->x_width:x->x_height;
+
+ if ( x->x_xmark[im] == -1 ) continue; // no points
+
for( i = 0; i < x->objectKeypoints->total; i++ )
{
CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, i );
@@ -269,58 +281,66 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
// manually marked points
// recognized on position
// if ( ( x->x_xmark[im] != -1.0 ) && ( x->x_rdesc[im][0] == 0.0 ) )
- if ( x->x_xmark[im] != -1.0 )
+
+ odist=sqrt( pow( r1->pt.x-x->x_xmark[im], 2 ) + pow( r1->pt.y-x->x_ymark[im], 2 ) );
+
+ if ( odist <= x->x_maxmove )
{
- if ( ( abs( r1->pt.x - x->x_xmark[im] ) <= x->x_maxmove ) && ( abs( r1->pt.y - x->x_ymark[im] ) <= x->x_maxmove ) )
- {
- sprintf( tindex, "%d", im+1 );
- cvPutText( x->image, tindex, cvPointFrom32f(r1->pt), &x->font, CV_RGB(255,255,255));
- x->x_xmark[im]=r1->pt.x;
- x->x_ymark[im]=r1->pt.y;
- memcpy( (float * )x->x_rdesc[im], rdesc, descsize*sizeof(float));
- x->x_found[im]++;
- 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 );
- break;
- }
+ if ( odist < dist )
+ {
+ oi=im;
+ x->x_xmark[oi]=r1->pt.x;
+ x->x_ymark[oi]=r1->pt.y;
+ memcpy( (float * )x->x_rdesc[oi], rdesc, descsize*sizeof(float));
+ dist = odist;
+ }
}
-
- // recognize points according to their SURF descriptor ( size = 128 )
- // this code is desactivated because it isn't more stable than the positions
- // if ( ( x->x_xmark[im] != -1.0 ) && ( x->x_rdesc[im][0] != 0.0 ) )
- // {
- // d = pdp_opencv_surf_compare_descriptors( x->x_rdesc[im], rdesc, descsize );
- // if( d < dist1 )
- // {
- // dist1 = d;
- // neighbour = i;
- // // post( "pdp_opencv_surf : point %d, min distance : %d ( with %d )", i, (int)d, im );
- // }
- // }
}
- // check if we found the point
- // if ( dist1 < x->x_criteria )
- // {
- // CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, neighbour );
- // const float* rdesc = (const float*)cvGetSeqElem( x->objectDescriptors, neighbour );
-
- // // point identified
- // sprintf( tindex, "%d", im+1 );
- // cvPutText( x->image, tindex, cvPointFrom32f(r1->pt), &x->font, CV_RGB(255,255,255));
- // x->x_xmark[im]=r1->pt.x;
- // x->x_ymark[im]=r1->pt.y;
- // memcpy( (float * )x->x_rdesc[im], rdesc, descsize*sizeof(float));
- // x->x_found[im]=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 ( oi !=-1 )
+ {
+ sprintf( tindex, "%d", oi );
+ cvPutText( x->image, tindex, cvPoint(x->x_xmark[oi],x->x_ymark[oi]), &x->font, CV_RGB(255,255,255));
+ 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 );
+ }
+
+ // recognize points according to their SURF descriptor ( size = 128 )
+ // this code is desactivated because it isn't more stable than the positions
+ // if ( ( x->x_xmark[im] != -1.0 ) && ( x->x_rdesc[im][0] != 0.0 ) )
+ // {
+ // d = pdp_opencv_surf_compare_descriptors( x->x_rdesc[im], rdesc, descsize );
+ // if( d < dist1 )
+ // {
+ // dist1 = d;
+ // neighbour = i;
+ // // post( "pdp_opencv_surf : point %d, min distance : %d ( with %d )", i, (int)d, im );
+ // }
+ // }
}
+ // check if we found the point
+ // if ( dist1 < x->x_criteria )
+ // {
+ // CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( x->objectKeypoints, neighbour );
+ // const float* rdesc = (const float*)cvGetSeqElem( x->objectDescriptors, neighbour );
+
+ // // point identified
+ // sprintf( tindex, "%d", im+1 );
+ // cvPutText( x->image, tindex, cvPointFrom32f(r1->pt), &x->font, CV_RGB(255,255,255));
+ // x->x_xmark[im]=r1->pt.x;
+ // x->x_ymark[im]=r1->pt.y;
+ // memcpy( (float * )x->x_rdesc[im], rdesc, descsize*sizeof(float));
+ // x->x_found[im]=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 );
+ // }
+
// draw the delaunay
if ( x->x_delaunay >= 0 )
{
@@ -387,7 +407,7 @@ static void pdp_opencv_surf_process_rgb(t_pdp_opencv_surf *x)
// suppress lost points
for ( im=0; im<MAX_MARKERS; im++ )
{
- if ( (x->x_xmark[im] != -1.0 ) && !x->x_found[im] )
+ if ( (x->x_xmark[im] != -1.0 ) && (x->x_found[im]<=0) )
{
x->x_xmark[im]=-1.0;
x->x_ymark[im]=-1.0;
@@ -525,8 +545,8 @@ static void pdp_opencv_surf_delete(t_pdp_opencv_surf *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_surf_clear(t_pdp_opencv_surf *x )
@@ -630,7 +650,7 @@ void *pdp_opencv_surf_new(t_floatarg f)
x->x_size = x->x_width * x->x_height;
x->night_mode = 0;
- x->x_maxmove = 8;
+ x->x_maxmove = 10;
x->x_delaunay = -1;
x->x_threshold = -1;
generated by cgit v1.2.1 (git 2.18.0) at 2025-03-05 20:34:42 +0000