From 1a13ba1527c6e4e3a9f818344c0e8602cb48886f Mon Sep 17 00:00:00 2001 From: "N.N." Date: Mon, 24 Aug 2009 18:18:34 +0000 Subject: hough detectors, lines and circles svn path=/trunk/externals/pdp_opencv/; revision=12059 --- pdp_opencv_hough_circles-help.pd | 114 +++++++++++++++ pdp_opencv_hough_circles.cc | 296 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 410 insertions(+) create mode 100644 pdp_opencv_hough_circles-help.pd create mode 100644 pdp_opencv_hough_circles.cc diff --git a/pdp_opencv_hough_circles-help.pd b/pdp_opencv_hough_circles-help.pd new file mode 100644 index 0000000..32b0702 --- /dev/null +++ b/pdp_opencv_hough_circles-help.pd @@ -0,0 +1,114 @@ +#N canvas 363 49 833 785 10; +#X text -13 -95 written by Lluis Gomez i Bigorda ( lluisgomez@hangar.org +) and Yves Degoyon ( ydegoyon@gmail.com ); +#X obj -17 -55 cnv 15 621 250 empty empty empty 20 12 0 14 -260097 +-66577 0; +#X obj 223 -15 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 223 12 metro 40; +#X msg 313 39 close; +#X obj 243 110 pdp_v4l; +#X msg 300 7 open /dev/video0; +#X obj 412 -20 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj 412 7 metro 40; +#X msg 493 26 close; +#X msg 489 2 open /dev/video0; +#X obj 433 106 pdp_v4l2; +#X msg 498 81 format \$1; +#X obj 499 59 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1 +-1 0; +#X obj 13 160 pdp_qt; +#X obj 46 96 metro 40; +#X msg 46 68 bang; +#X msg 87 68 stop; +#X obj 13 -1 openpanel; +#X msg 13 24 open \$1; +#X msg 13 -29 bang; +#X msg 47 123 loop \$1; +#X obj 127 123 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj 127 41 loadbang; +#X text 56 -26 playing a video file; +#X text 253 -17 Camera input; +#X obj 73 161 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144 +-1 -1 0 1; +#X obj -17 198 cnv 15 621 400 empty empty empty 20 12 0 14 -258113 +-66577 0; +#X obj 203 409 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X msg 118 407 nightmode \$1; +#X text 222 410 set nightmode; +#X floatatom 153 243 5 0 0 0 - - -; +#X floatatom 140 514 5 0 0 0 - - -; +#X floatatom 176 515 5 0 0 0 - - -; +#X obj 140 474 route 1 2 3 4 5 6 7 8 9 10; +#X text 143 528 X1; +#X text 179 528 Y1; +#X floatatom 213 515 5 0 0 0 - - -; +#X msg 64 240 threshold \$1; +#X floatatom 183 320 5 0 0 0 - - -; +#X floatatom 199 357 5 0 0 0 - - -; +#X obj 13 621 pdp_xv; +#X floatatom 124 214 5 0 0 0 - - -; +#X msg 34 213 maxcircles \$1; +#X text 164 213 maximum nuber of circles detected ( default : 10 ) +; +#X floatatom 160 271 5 0 0 0 - - -; +#X msg 71 267 threshold2 \$1; +#X text 199 283 see documentation of cvHoughCircles for the meaning +of thresholds; +#X text -13 -110 pdp_opencv_hough_circles : Hough circles detection +algorithm; +#X msg 97 319 mindist \$1; +#X text 220 318 minimum distance between circles ( default : 30 ); +#X msg 99 355 resolution \$1; +#X text 242 356 detector resolution ( default 1 ); +#X text 309 474 position of each circle; +#X text 216 529 radius; +#X obj 140 495 unpack f f f; +#X obj 12 442 pdp_opencv_hough_circles; +#X text 192 239 threshold ( default 100 ); +#X text 199 266 threshold2 ( default 10 ); +#X connect 2 0 3 0; +#X connect 3 0 5 0; +#X connect 4 0 5 0; +#X connect 5 0 56 0; +#X connect 6 0 5 0; +#X connect 7 0 8 0; +#X connect 8 0 11 0; +#X connect 9 0 11 0; +#X connect 10 0 11 0; +#X connect 11 0 56 0; +#X connect 12 0 11 0; +#X connect 13 0 12 0; +#X connect 14 0 56 0; +#X connect 15 0 14 0; +#X connect 16 0 15 0; +#X connect 17 0 15 0; +#X connect 18 0 19 0; +#X connect 19 0 14 0; +#X connect 20 0 18 0; +#X connect 21 0 14 0; +#X connect 22 0 21 0; +#X connect 23 0 22 0; +#X connect 23 0 16 0; +#X connect 26 0 14 1; +#X connect 28 0 29 0; +#X connect 29 0 56 0; +#X connect 31 0 38 0; +#X connect 34 0 55 0; +#X connect 38 0 56 0; +#X connect 39 0 49 0; +#X connect 40 0 51 0; +#X connect 42 0 43 0; +#X connect 43 0 56 0; +#X connect 45 0 46 0; +#X connect 46 0 56 0; +#X connect 49 0 56 0; +#X connect 51 0 56 0; +#X connect 55 0 32 0; +#X connect 55 1 33 0; +#X connect 55 2 37 0; +#X connect 56 0 41 0; +#X connect 56 1 34 0; diff --git a/pdp_opencv_hough_circles.cc b/pdp_opencv_hough_circles.cc new file mode 100644 index 0000000..78e0523 --- /dev/null +++ b/pdp_opencv_hough_circles.cc @@ -0,0 +1,296 @@ +/* + * Pure Data Packet module. + * Copyright (c) by Tom Schouten + * + * 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 +#include +#include +#include +#include +#include +#include + +#include "pdp.h" + +#ifndef _EiC +#include "cv.h" +#endif + +#define MAX_MARKERS 500 +const int MAX_COUNT = 500; + +typedef struct pdp_opencv_hough_circles_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + t_outlet *x_outlet1; + t_atom x_list[4]; + + int x_packet0; + int x_packet1; + int x_dropped; + int x_queue_id; + + int x_width; + int x_height; + int x_size; + + // The output and temporary images + IplImage *image, *grey; + + int x_threshold; + int x_threshold2; + int x_maxcircles; + double x_mindist; + double x_resolution; + int night_mode; + CvFont font; + CvMemStorage* x_storage; + CvSeq* x_circles; + +} t_pdp_opencv_hough_circles; + +static void pdp_opencv_hough_circles_process_rgb(t_pdp_opencv_hough_circles *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,ucircles; + + if ((x->x_width != (t_int)header->info.image.width) || + (x->x_height != (t_int)header->info.image.height) || (!x->image)) + { + + post("pdp_opencv_hough_circles :: resizing plugins"); + + 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 ); + + //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 ); + } + + 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 ); + + cvCvtColor( x->image, x->grey, CV_RGB2GRAY ); + + if( x->night_mode ) + cvZero( x->image ); + + x->x_storage = cvCreateMemStorage(0); + + cvSmooth( x->grey, x->grey, CV_GAUSSIAN, 9, 9 ); + CvSeq* circles = cvHoughCircles( x->grey, x->x_storage, CV_HOUGH_GRADIENT, x->x_resolution, x->x_mindist, x->x_threshold, x->x_threshold2 ); + ucircles = (circles->total>x->x_maxcircles)?x->x_maxcircles:circles->total; + for( i = 0; i < ucircles; i++ ) + { + float* p = (float*)cvGetSeqElem( circles, i ); + char tindex[10]; + cvCircle( x->image, cvPoint(cvRound(p[0]),cvRound(p[1])), 3, CV_RGB(0,255,0), -1, 8, 0 ); + cvCircle( x->image, cvPoint(cvRound(p[0]),cvRound(p[1])), cvRound(p[2]), CV_RGB(255,0,0), 3, 8, 0 ); + SETFLOAT(&x->x_list[0], i); + SETFLOAT(&x->x_list[1], cvRound(p[0])); + SETFLOAT(&x->x_list[2], cvRound(p[1])); + SETFLOAT(&x->x_list[3], cvRound(p[2])); + outlet_list( x->x_outlet1, 0, 4, x->x_list ); + sprintf( tindex, "%d", i ); + cvPutText( x->image, tindex, cvPoint(cvRound(p[0]),cvRound(p[1])), &x->font, CV_RGB(255,255,255)); + } + + cvReleaseMemStorage( &x->x_storage ); + + memcpy( newdata, x->image->imageData, x->x_size*3 ); + return; +} + +static void pdp_opencv_hough_circles_nightmode(t_pdp_opencv_hough_circles *x, t_floatarg fmode) +{ + if ((fmode==0.0)||(fmode==1.0)) x->night_mode = (int)fmode; +} + +static void pdp_opencv_hough_circles_threshold(t_pdp_opencv_hough_circles *x, t_floatarg fthresh) +{ + if (fthresh>0.0) x->x_threshold = (int)fthresh; +} + +static void pdp_opencv_hough_circles_threshold2(t_pdp_opencv_hough_circles *x, t_floatarg fthresh) +{ + if (fthresh>0.0) x->x_threshold2 = (int)fthresh; +} + +static void pdp_opencv_hough_circles_mindist(t_pdp_opencv_hough_circles *x, t_floatarg fdist) +{ + if (fdist>0.0) x->x_mindist = (double)fdist; +} + +static void pdp_opencv_hough_circles_maxcircles(t_pdp_opencv_hough_circles *x, t_floatarg fmaxcircles) +{ + if (fmaxcircles>0.0) x->x_maxcircles = (int)fmaxcircles; +} + +static void pdp_opencv_hough_circles_resolution(t_pdp_opencv_hough_circles *x, t_floatarg fresol) +{ + if (fresol>0.0) x->x_resolution = (double)fresol; +} + +static void pdp_opencv_hough_circles_sendpacket(t_pdp_opencv_hough_circles *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_hough_circles_process(t_pdp_opencv_hough_circles *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_hough_circles_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_hough_circles_process_rgb, (void*)pdp_opencv_hough_circles_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_hough_circles_process */ + break; + + } + } + +} + +static void pdp_opencv_hough_circles_input_0(t_pdp_opencv_hough_circles *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_hough_circles_process(x); + } +} + +static void pdp_opencv_hough_circles_free(t_pdp_opencv_hough_circles *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->grey ); +} + +t_class *pdp_opencv_hough_circles_class; + +void *pdp_opencv_hough_circles_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_hough_circles *x = (t_pdp_opencv_hough_circles *)pd_new(pdp_opencv_hough_circles_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_threshold = 100; + x->x_threshold2 = 10; + x->x_maxcircles = 10; + x->x_mindist = 30.0; + x->x_resolution = 1.0; + x->night_mode = 0; + + // initialize font + cvInitFont( &x->font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 ); + + x->image = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 3 ); + x->grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + + return (void *)x; +} + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +void pdp_opencv_hough_circles_setup(void) +{ + + post( " pdp_opencv_hough_circles"); + pdp_opencv_hough_circles_class = class_new(gensym("pdp_opencv_hough_circles"), (t_newmethod)pdp_opencv_hough_circles_new, + (t_method)pdp_opencv_hough_circles_free, sizeof(t_pdp_opencv_hough_circles), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_nightmode, gensym("nightmode"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_threshold, gensym("threshold"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_threshold2, gensym("threshold2"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_mindist, gensym("mindist"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_resolution, gensym("resolution"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_circles_class, (t_method)pdp_opencv_hough_circles_maxcircles, gensym("maxcircles"), A_FLOAT, A_NULL ); +} + +#ifdef __cplusplus +} +#endif -- cgit v1.2.1