From 242cfbc0ac5e30fd1fef7ea05b1fa179d8526f17 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?llu=C3=ADs=20g=C3=B3mez=20i=20bigord=C3=A0?= Date: Sat, 15 Aug 2009 11:24:41 +0000 Subject: changed pdp_opencv_histo to pdp_opencv_hist_compare and added new outlet (list of matching measurements for each recorded histograms) svn path=/trunk/externals/pdp_opencv/; revision=11919 --- pdp_opencv_hist_compare-help.pd | 102 ++++++++++ pdp_opencv_hist_compare.c | 400 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 502 insertions(+) create mode 100644 pdp_opencv_hist_compare-help.pd create mode 100644 pdp_opencv_hist_compare.c diff --git a/pdp_opencv_hist_compare-help.pd b/pdp_opencv_hist_compare-help.pd new file mode 100644 index 0000000..97e94a3 --- /dev/null +++ b/pdp_opencv_hist_compare-help.pd @@ -0,0 +1,102 @@ +#N canvas 355 42 757 669 10; +#X obj -147 -72 cnv 15 621 250 empty empty empty 20 12 0 14 -260097 +-66577 0; +#X obj 93 -32 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 93 -5 metro 40; +#X msg 183 22 close; +#X obj 113 93 pdp_v4l; +#X msg 170 -10 open /dev/video0; +#X obj 294 -30 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj 294 -3 metro 40; +#X msg 375 16 close; +#X msg 371 -8 open /dev/video0; +#X obj 315 96 pdp_v4l2; +#X msg 380 71 format \$1; +#X obj 381 49 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1 +-1 0; +#X obj -117 143 pdp_qt; +#X obj -84 79 metro 40; +#X msg -84 51 bang; +#X msg -43 51 stop; +#X obj -117 -18 openpanel; +#X msg -117 7 open \$1; +#X msg -117 -46 bang; +#X msg -83 106 loop \$1; +#X obj -3 106 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj -3 24 loadbang; +#X text -74 -43 playing a video file; +#X text 123 -34 Camera input; +#X obj -57 144 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144 +-1 -1 0 1; +#X text -149 -124 record histograms of specific situations; +#X text -147 -112 the object will recognize the situations if they +occur again; +#X obj -146 186 cnv 15 621 300 empty empty empty 20 12 0 14 -258113 +-66577 0; +#X obj -118 208 pdp_scale 320 240; +#X obj -120 380 pdp_xv; +#X obj -66 340 pdp_xv; +#X floatatom 1 420 5 0 0 0 - - -; +#X obj -12 262 hradio 15 1 0 5 empty empty empty 0 -8 0 10 -262144 +-1 -1 0; +#X text -1 207 <- this scaling saves memmory; +#X text 71 261 save an histogram at position nth ( 0 <= n <= 80 ); +#X text -147 -98 Written by Lluis Gomez i Bigorda ( lluisgomez@hangar.org +); +#X obj -66 300 pdp_opencv_hist_compare; +#X obj 69 319 unpack f f f f f; +#X obj 391 97 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 -1 +-1 1; +#X msg 390 119 input \$1; +#X text 161 343 matchiing measure with stored histograms; +#X text 162 354 nearest to 1 is the winner; +#X text 37 421 closest histogram (winner); +#X obj 69 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144 +-1 -1 2840 1; +#X obj 92 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144 +-1 -1 1917 1; +#X obj 115 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144 +-1 -1 2486 1; +#X obj 138 347 vsl 15 37 0 1 0 0 empty empty empty 0 -9 0 10 -262144 +-1 -1 0 1; +#X text -148 -150 pdp_opencv_hist_compare : rapid patern recognition +using HS histograms; +#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 29 0 30 0; +#X connect 29 0 37 0; +#X connect 33 0 37 1; +#X connect 37 0 31 0; +#X connect 37 1 32 0; +#X connect 37 2 38 0; +#X connect 38 0 44 0; +#X connect 38 1 45 0; +#X connect 38 2 46 0; +#X connect 38 3 47 0; +#X connect 39 0 40 0; +#X connect 40 0 10 0; diff --git a/pdp_opencv_hist_compare.c b/pdp_opencv_hist_compare.c new file mode 100644 index 0000000..adf3779 --- /dev/null +++ b/pdp_opencv_hist_compare.c @@ -0,0 +1,400 @@ +/* + * 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 "pdp.h" + +#ifndef _EiC +#include "cv.h" +#endif + + +#define MAX_HISTOGRAMS_TO_COMPARE 80 + +typedef struct pdp_opencv_hist_compare_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + t_outlet *x_outlet1; + t_outlet *x_dataout; + 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 save_now; + int nbsaved; + + CvHistogram *hist; + CvHistogram *saved_hist[MAX_HISTOGRAMS_TO_COMPARE]; + IplImage *src, *hsv, *h_plane, *s_plane, *v_plane, *h_saved_plane, *s_saved_plane, *v_saved_plane, *planes[2],*saved_planes[2]; + + +} t_pdp_opencv_hist_compare; + + + +static void pdp_opencv_hist_compare_process_rgb(t_pdp_opencv_hist_compare *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 h_bins = (int)(x->x_width/10), s_bins = (int)(x->x_height/10); + + if ((x->x_width != (t_int)header->info.image.width) || + (x->x_height != (t_int)header->info.image.height)) + { + + // if image size has changed we must create again our image and histogram structures + post("pdp_opencv_hist_compare :: resizing buffers"); + + 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->src); + cvReleaseImage(&x->hsv); + cvReleaseImage(&x->h_plane); + cvReleaseImage(&x->s_plane); + cvReleaseImage(&x->v_plane); + cvReleaseImage(&x->h_saved_plane); + cvReleaseImage(&x->s_saved_plane); + cvReleaseImage(&x->v_saved_plane); + + //create the orig image with new size + x->src = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3); + + // Create the output images with new sizes + x->hsv = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3 ); + + x->h_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->s_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->v_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->planes[0] = x->h_plane; + x->planes[1] = x->s_plane; + x->h_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->s_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->v_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->saved_planes[0] = x->h_saved_plane; + x->saved_planes[1] = x->s_saved_plane; + { + int hist_size[] = { h_bins, s_bins }; + float h_ranges[] = { 0, 180 }; // hue is [0,180] + float s_ranges[] = { 0, 255 }; + float* ranges[] = { h_ranges, s_ranges }; + x->hist = cvCreateHist( + 2, + hist_size, + CV_HIST_ARRAY, + ranges, + 1 + ); + int n; + for (n=0; nsaved_hist[n] = cvCreateHist( + 2, + hist_size, + CV_HIST_ARRAY, + ranges, + 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 ); + + + // We make here a copy of the PDP packet in image->imageData ... + // take a look on the IplImage data structure + // http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html + memcpy( x->src->imageData, data, x->x_size*3 ); + + // Convert to grayscale + cvCvtColor( x->src, x->hsv, CV_BGR2HSV ); + cvCvtPixToPlane( x->hsv, x->h_plane, x->s_plane, x->v_plane, 0 ); + + // Build the histogram and compute its contents. + if (x->save_now>=0) { + fprintf(stderr,"saving histogram %d\n",x->save_now); + cvCvtPixToPlane( x->hsv, x->h_saved_plane, x->s_saved_plane, x->v_saved_plane, 0 ); + cvCalcHist( x->saved_planes, x->saved_hist[x->save_now], 0, 0 ); //Compute histogram + cvNormalizeHist( x->saved_hist[x->save_now], 1.0 ); //Normalize it + x->nbsaved++; + x->save_now=-1; + } + cvCalcHist( x->planes, x->hist, 0, 0 ); //Compute histogram + cvNormalizeHist( x->hist, 1.0 ); //Normalize it + + double tato[x->nbsaved]; + t_atom datalist[x->nbsaved]; + int nearest = -1; + double max = 0; + + int n; + for (n=0; nnbsaved; n++) { + tato[n] = cvCompareHist(x->hist, x->saved_hist[n], CV_COMP_INTERSECT); + SETFLOAT(&datalist[n], tato[n]); + if (tato[n]>max) { + max = tato[n]; + nearest = n; + } + } + + if ( x->nbsaved > 0 ) { + outlet_float(x->x_outlet1, (float)nearest); + outlet_list( x->x_dataout, 0, x->nbsaved , datalist ); + } else + outlet_float(x->x_outlet1, -1.0); + + + // Create an image to use to visualize our histogram. + int scale = 10; + //IplImage* hist_img = cvCreateImage( + // cvSize(x->x_width,x->x_height), + // 8, + // 3 + //); + //cvZero( hist_img ); + + // populate our visualization with little gray squares. + + float max_value = 0; + cvGetMinMaxHistValue( x->hist, 0, &max_value, 0, 0 ); + + int h = 0; + int s = 0; + + for( h = 0; h < h_bins; h++ ) { + for( s = 0; s < s_bins; s++ ) { + float bin_val = cvQueryHistValue_2D( x->hist, h, s ); + int intensity = cvRound( bin_val * 255 / max_value ); + cvRectangle( + x->src, + cvPoint( h*scale, s*scale ), + cvPoint( (h+1)*scale - 1, (s+1)*scale - 1), + CV_RGB(intensity,intensity,intensity), CV_FILLED, 8 , 0 ); + } + } + + //memory copy again, now from x->cedge->imageData to the new data pdp packet + //memcpy( newdata, hist_img, x->x_size*3 ); + memcpy( newdata, x->src->imageData, x->x_size*3 ); + + return; +} + +static void pdp_opencv_hist_compare_save(t_pdp_opencv_hist_compare *x, t_floatarg f) +{ + if (((int)f>=0)&&((int)fsave_now = (int)f; +} + +static void pdp_opencv_hist_compare_sendpacket(t_pdp_opencv_hist_compare *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_hist_compare_process(t_pdp_opencv_hist_compare *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_hist_compare_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_hist_compare_process_rgb, pdp_opencv_hist_compare_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_hist_compare_process */ + break; + + } + } + +} + +static void pdp_opencv_hist_compare_input_0(t_pdp_opencv_hist_compare *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_hist_compare_process(x); + } +} + +static void pdp_opencv_hist_compare_free(t_pdp_opencv_hist_compare *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->src); + cvReleaseImage(&x->hsv); + cvReleaseImage(&x->h_plane); + cvReleaseImage(&x->s_plane); + cvReleaseImage(&x->v_plane); + cvReleaseImage(&x->h_saved_plane); + cvReleaseImage(&x->s_saved_plane); + cvReleaseImage(&x->v_saved_plane); +} + +t_class *pdp_opencv_hist_compare_class; + + +void *pdp_opencv_hist_compare_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_hist_compare *x = (t_pdp_opencv_hist_compare *)pd_new(pdp_opencv_hist_compare_class); + inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("save")); + + x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet1 = outlet_new(&x->x_obj, &s_float); + x->x_dataout = 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->save_now = 0; + x->nbsaved = 0; + + x->src = 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->h_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->s_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->v_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->planes[0] = x->h_plane; + x->planes[1] = x->s_plane; + cvCvtPixToPlane( x->hsv, x->h_plane, x->s_plane, x->v_plane, 0 ); + x->h_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->s_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->v_saved_plane = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 1); + x->saved_planes[0] = x->h_saved_plane; + x->saved_planes[1] = x->s_saved_plane; + cvCvtPixToPlane( x->hsv, x->h_saved_plane, x->s_saved_plane, x->v_saved_plane, 0 ); + + cvCvtColor( x->src, x->hsv, CV_BGR2HSV ); + + int h_bins = (int)(x->x_width/10), s_bins = (int)(x->x_height/10); + { + int hist_size[] = { h_bins, s_bins }; + float h_ranges[] = { 0, 180 }; // hue is [0,180] + float s_ranges[] = { 0, 255 }; + float* ranges[] = { h_ranges, s_ranges }; + x->hist = cvCreateHist( + 2, + hist_size, + CV_HIST_ARRAY, + ranges, + 1 + ); + int n; + for (n=0; nsaved_hist[n] = cvCreateHist( + 2, + hist_size, + CV_HIST_ARRAY, + ranges, + 1 + ); + } + } + + return (void *)x; +} + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +void pdp_opencv_hist_compare_setup(void) +{ + + post( " pdp_opencv_hist_compare"); + pdp_opencv_hist_compare_class = class_new(gensym("pdp_opencv_hist_compare"), (t_newmethod)pdp_opencv_hist_compare_new, + (t_method)pdp_opencv_hist_compare_free, sizeof(t_pdp_opencv_hist_compare), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_hist_compare_class, (t_method)pdp_opencv_hist_compare_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_hist_compare_class, (t_method)pdp_opencv_hist_compare_save, gensym("save"), A_FLOAT, A_NULL ); + +} + +#ifdef __cplusplus +} +#endif -- cgit v1.2.1