From bcd99a9a42824445e9c73dc6a51c4efd5ab58130 Mon Sep 17 00:00:00 2001 From: "N.N." Date: Fri, 16 Oct 2009 19:47:54 +0000 Subject: added Horn/Schunck and Lucas/Kanade Optical Flow objects svn path=/trunk/externals/pdp_opencv/; revision=12597 --- Makefile | 2 +- Makefile.in | 2 +- pdp_opencv_of_bm-help.pd | 48 +++---- pdp_opencv_of_bm.cc | 2 - pdp_opencv_of_hs-help.pd | 128 +++++++++++++++++ pdp_opencv_of_hs.cc | 366 +++++++++++++++++++++++++++++++++++++++++++++++ pdp_opencv_of_lk-help.pd | 124 ++++++++++++++++ pdp_opencv_of_lk.cc | 358 +++++++++++++++++++++++++++++++++++++++++++++ 8 files changed, 1002 insertions(+), 28 deletions(-) create mode 100755 pdp_opencv_of_hs-help.pd create mode 100755 pdp_opencv_of_hs.cc create mode 100755 pdp_opencv_of_lk-help.pd create mode 100755 pdp_opencv_of_lk.cc diff --git a/Makefile b/Makefile index 611914f..1679f56 100644 --- a/Makefile +++ b/Makefile @@ -26,7 +26,7 @@ endif .SUFFIXES = $(EXTENSION) -SOURCES = pdp_opencv_threshold.cc pdp_opencv_edge.cc pdp_opencv_distrans.cc pdp_opencv_laplace.cc pdp_opencv_motempl.cc pdp_opencv_morphology.cc pdp_opencv_haarcascade.cc pdp_opencv_contours_convexity.cc pdp_opencv_contours_boundingrect.cc pdp_opencv_bgsubstract.cc pdp_opencv_lk.cc pdp_opencv_floodfill.cc pdp_opencv_hist_compare.cc pdp_opencv_dft.cc pdp_opencv_knear.cc pdp_opencv_hu_moments.cc pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_athreshold.cc pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc pdp_opencv_camshift.cc pdp_opencv_colorfilt.cc pdp_opencv_contours_convexhull.cc pdp_opencv_of_bm.cc +SOURCES = pdp_opencv_threshold.cc pdp_opencv_edge.cc pdp_opencv_distrans.cc pdp_opencv_laplace.cc pdp_opencv_motempl.cc pdp_opencv_morphology.cc pdp_opencv_haarcascade.cc pdp_opencv_contours_convexity.cc pdp_opencv_contours_boundingrect.cc pdp_opencv_bgsubstract.cc pdp_opencv_lk.cc pdp_opencv_floodfill.cc pdp_opencv_hist_compare.cc pdp_opencv_dft.cc pdp_opencv_knear.cc pdp_opencv_hu_moments.cc pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_athreshold.cc pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc pdp_opencv_camshift.cc pdp_opencv_colorfilt.cc pdp_opencv_contours_convexhull.cc pdp_opencv_of_bm.cc pdp_opencv_of_hs.cc pdp_opencv_of_lk.cc SOURCES_OPT = pdp_opencv_surf.cc all: $(SOURCES:.c=.$(EXTENSION)) $(SOURCES:.cc=.$(EXTENSION)) $(SOURCES_OPT:.c=.$(EXTENSION)) $(SOURCES_OPT:.cc=.$(EXTENSION)) diff --git a/Makefile.in b/Makefile.in index f06203a..753a170 100755 --- a/Makefile.in +++ b/Makefile.in @@ -26,7 +26,7 @@ endif .SUFFIXES = $(EXTENSION) -SOURCES = pdp_opencv_threshold.cc pdp_opencv_edge.cc pdp_opencv_distrans.cc pdp_opencv_laplace.cc pdp_opencv_motempl.cc pdp_opencv_morphology.cc pdp_opencv_haarcascade.cc pdp_opencv_contours_convexity.cc pdp_opencv_contours_boundingrect.cc pdp_opencv_bgsubstract.cc pdp_opencv_lk.cc pdp_opencv_floodfill.cc pdp_opencv_hist_compare.cc pdp_opencv_dft.cc pdp_opencv_knear.cc pdp_opencv_hu_moments.cc pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_athreshold.cc pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc pdp_opencv_camshift.cc pdp_opencv_colorfilt.cc pdp_opencv_contours_convexhull.cc pdp_opencv_of_bm.cc +SOURCES = pdp_opencv_threshold.cc pdp_opencv_edge.cc pdp_opencv_distrans.cc pdp_opencv_laplace.cc pdp_opencv_motempl.cc pdp_opencv_morphology.cc pdp_opencv_haarcascade.cc pdp_opencv_contours_convexity.cc pdp_opencv_contours_boundingrect.cc pdp_opencv_bgsubstract.cc pdp_opencv_lk.cc pdp_opencv_floodfill.cc pdp_opencv_hist_compare.cc pdp_opencv_dft.cc pdp_opencv_knear.cc pdp_opencv_hu_moments.cc pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_athreshold.cc pdp_opencv_hough_lines.cc pdp_opencv_channels.cc pdp_opencv_hough_circles.cc pdp_opencv_camshift.cc pdp_opencv_colorfilt.cc pdp_opencv_contours_convexhull.cc pdp_opencv_of_bm.cc pdp_opencv_of_hs.cc pdp_opencv_of_lk.cc SOURCES_OPT = @SOURCES_OPT@ all: $(SOURCES:.c=.$(EXTENSION)) $(SOURCES:.cc=.$(EXTENSION)) $(SOURCES_OPT:.c=.$(EXTENSION)) $(SOURCES_OPT:.cc=.$(EXTENSION)) diff --git a/pdp_opencv_of_bm-help.pd b/pdp_opencv_of_bm-help.pd index a725e06..f1ea121 100755 --- a/pdp_opencv_of_bm-help.pd +++ b/pdp_opencv_of_bm-help.pd @@ -7,7 +7,7 @@ #X msg 310 146 close; #X obj 249 222 pdp_v4l; #X msg 306 119 open /dev/video0; -#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 1; #X obj 423 122 metro 40; #X msg 500 145 close; @@ -48,8 +48,6 @@ #X obj 201 541 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 1; #X msg 101 540 useprevious \$1; -#X text -11 -51 pdp_opencv_bm : Block Matching optical flow algorithm. -; #X text 191 379 set blocksize (width height) ( default 20x20 ); #X text 202 401 set shiftsize (width height) ( default 20x20 ); #X text 216 428 set maxrange (width height) ( default 20x10 ); @@ -88,19 +86,21 @@ of movement is detected; #X text 210 490 ( default 10 ); #X text -10 24 comments to ydegoyon@gmail.com; #X obj 16 566 pdp_opencv_of_bm; +#X text -10 -52 pdp_opencv_of_bm : Block Matching optical flow algorithm. +; #X connect 1 0 2 0; #X connect 2 0 4 0; #X connect 3 0 4 0; -#X connect 4 0 58 0; +#X connect 4 0 65 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 58 0; +#X connect 10 0 65 0; #X connect 11 0 10 0; #X connect 12 0 11 0; -#X connect 13 0 66 0; +#X connect 13 0 65 0; #X connect 14 0 13 0; #X connect 15 0 14 0; #X connect 16 0 14 0; @@ -113,26 +113,26 @@ of movement is detected; #X connect 22 0 15 0; #X connect 25 0 13 1; #X connect 28 0 29 0; -#X connect 29 0 71 0; +#X connect 29 0 70 0; #X connect 30 0 31 0; -#X connect 31 0 71 0; +#X connect 31 0 70 0; #X connect 32 0 34 0; #X connect 33 0 35 0; -#X connect 34 0 71 0; -#X connect 35 0 71 0; +#X connect 34 0 70 0; +#X connect 35 0 70 0; #X connect 36 0 37 0; -#X connect 37 0 71 0; +#X connect 37 0 70 0; #X connect 38 0 39 0; -#X connect 39 0 71 0; -#X connect 46 0 47 0; -#X connect 46 1 48 0; -#X connect 51 0 71 0; -#X connect 52 0 51 0; -#X connect 56 0 13 0; -#X connect 58 0 71 0; -#X connect 60 0 10 0; -#X connect 66 0 58 0; -#X connect 67 0 66 1; -#X connect 71 0 27 0; -#X connect 71 1 45 0; -#X connect 71 2 46 0; +#X connect 39 0 70 0; +#X connect 45 0 46 0; +#X connect 45 1 47 0; +#X connect 50 0 70 0; +#X connect 51 0 50 0; +#X connect 55 0 13 0; +#X connect 57 0 70 0; +#X connect 59 0 10 0; +#X connect 65 0 57 0; +#X connect 66 0 65 1; +#X connect 70 0 27 0; +#X connect 70 1 44 0; +#X connect 70 2 45 0; diff --git a/pdp_opencv_of_bm.cc b/pdp_opencv_of_bm.cc index 68ca3ab..3774617 100755 --- a/pdp_opencv_of_bm.cc +++ b/pdp_opencv_of_bm.cc @@ -93,8 +93,6 @@ static void pdp_opencv_of_bm_process_rgb(t_pdp_opencv_of_bm *x) x->x_velsize.width = (x->x_width-x->x_blocksize.width)/x->x_shiftsize.width; x->x_velsize.height = (x->x_height-x->x_blocksize.height)/x->x_shiftsize.height; - x->x_maxrange.width = x->x_width; - x->x_maxrange.height = x->x_height; //Destroy cv_images cvReleaseImage( &x->image ); diff --git a/pdp_opencv_of_hs-help.pd b/pdp_opencv_of_hs-help.pd new file mode 100755 index 0000000..990500e --- /dev/null +++ b/pdp_opencv_of_hs-help.pd @@ -0,0 +1,128 @@ +#N canvas 587 49 833 785 10; +#X obj -11 57 cnv 15 621 250 empty empty empty 20 12 0 14 -260097 -66577 +0; +#X obj 229 97 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 229 124 metro 40; +#X msg 310 146 close; +#X obj 249 222 pdp_v4l; +#X msg 306 119 open /dev/video0; +#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 423 122 metro 40; +#X msg 500 145 close; +#X msg 493 121 open /dev/video0; +#X obj 423 223 pdp_v4l2; +#X msg 501 192 format \$1; +#X obj 502 170 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 +-1 -1 0; +#X obj 19 272 pdp_qt; +#X obj 52 208 metro 40; +#X msg 52 180 bang; +#X msg 93 180 stop; +#X obj 19 111 openpanel; +#X msg 19 136 open \$1; +#X msg 19 83 bang; +#X msg 53 235 loop \$1; +#X obj 133 235 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj 133 153 loadbang; +#X text 62 86 playing a video file; +#X text 259 95 Camera input; +#X obj 79 273 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144 +-1 -1 0 1; +#X obj -10 311 cnv 15 621 400 empty empty empty 20 12 0 14 -258113 +-66577 0; +#X obj 17 718 pdp_xv; +#X obj 163 464 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X msg 78 462 nightmode \$1; +#X floatatom 124 385 5 0 0 0 - - -; +#X floatatom 152 409 5 0 0 0 - - -; +#X msg 65 407 threshold \$1; +#X obj 187 495 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X msg 87 494 useprevious \$1; +#X text -10 0 with a great help from Mateu Batle & Alberto de Rodrigo +from the iBit foundation.; +#X floatatom 66 663 5 0 0 0 - - -; +#X obj 120 603 unpack f f; +#X floatatom 206 603 5 0 0 0 - - -; +#X floatatom 208 623 5 0 0 0 - - -; +#X text 248 602 largest amplitude of movement; +#X text 209 493 use previous results ( default : 0 \, surprising results +when on ); +#X msg 68 436 minblocks \$1; +#X floatatom 155 437 5 0 0 0 - - -; +#X text 182 465 set nightmode; +#X text -11 -36 the main purpose of this object is to calculate the +average direction and the intensity of the movement in a video stream. +; +#X text 199 431 minimum nuber of blocks to detect the movement; +#X msg 32 156 bang; +#X text 108 684 marked with a white arrow on the stream; +#X obj 21 350 pdp_scale 320 240; +#X text 137 345 this object can work on small frames unless you have +a very powerful machine; +#X msg 435 150 bang; +#X text 108 660 average angle of the blocks movement; +#X text 248 623 angle of the block with the maximum movement; +#X text 246 635 ( in degrees [-180 \, 180]); +#X text 107 672 ( in degrees [-180 \, 180]); +#X obj 20 320 pdp_rotate; +#X floatatom 89 322 5 0 0 0 - - -; +#X text 127 314 you can rotate the object to check that the main direction +of movement is detected; +#X text -10 24 comments to ydegoyon@gmail.com; +#X obj 19 534 pdp_opencv_of_hs; +#X msg 54 382 lambda \$1; +#X text 167 382 set Lagragian multiplier ( default 1 ); +#X text -11 -52 pdp_opencv_of_hs : Haron and Schunck optical flow algorithm. +; +#X text 196 444 ( default 10 ); +#X text 194 406 threshold value for the detection of movement ( default +100 ); +#X connect 1 0 2 0; +#X connect 2 0 4 0; +#X connect 3 0 4 0; +#X connect 4 0 56 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 56 0; +#X connect 11 0 10 0; +#X connect 12 0 11 0; +#X connect 13 0 56 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 28 0 29 0; +#X connect 29 0 60 0; +#X connect 30 0 61 0; +#X connect 31 0 32 0; +#X connect 32 0 60 0; +#X connect 33 0 34 0; +#X connect 34 0 60 0; +#X connect 37 0 38 0; +#X connect 37 1 39 0; +#X connect 42 0 60 0; +#X connect 43 0 42 0; +#X connect 47 0 13 0; +#X connect 49 0 60 0; +#X connect 51 0 10 0; +#X connect 56 0 49 0; +#X connect 57 0 56 1; +#X connect 60 0 27 0; +#X connect 60 1 36 0; +#X connect 60 2 37 0; +#X connect 61 0 60 0; diff --git a/pdp_opencv_of_hs.cc b/pdp_opencv_of_hs.cc new file mode 100755 index 0000000..5eeb005 --- /dev/null +++ b/pdp_opencv_of_hs.cc @@ -0,0 +1,366 @@ +/* + * 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. + * + * Horn and Schunck optical flow algorithm + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pdp.h" + +#ifndef _EiC +#include "cv.h" +#endif + +typedef struct pdp_opencv_of_hs_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + t_outlet *x_outlet1; + t_outlet *x_outlet2; + t_atom x_list[3]; + + int x_packet0; + int x_packet1; + int x_dropped; + int x_queue_id; + + int x_width; + int x_height; + int x_size; + + // OpenCv structures + IplImage *image, *grey, *prev_grey, *swap_temp; + IplImage *x_velx, *x_vely; + CvSize x_velsize; + double x_lambda; + + int x_nightmode; + int x_threshold; + int x_useprevious; + int x_minblocks; + CvFont font; + +} t_pdp_opencv_of_hs; + +static void pdp_opencv_of_hs_process_rgb(t_pdp_opencv_of_hs *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,im; + int marked; + int px,py; + double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0; + int nbblocks=0; + CvPoint orig, dest; + double angle=0.0; + double hypotenuse=0.0; + char tindex[4]; + + if ((x->x_width != (t_int)header->info.image.width) || + (x->x_height != (t_int)header->info.image.height) || (!x->image)) + { + + post("pdp_opencv_of_hs :: 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; + + x->x_velsize.width = x->x_width; + x->x_velsize.height = x->x_height; + + //Destroy cv_images + cvReleaseImage( &x->image ); + cvReleaseImage( &x->grey ); + cvReleaseImage( &x->prev_grey ); + cvReleaseImage( &x->x_velx ); + cvReleaseImage( &x->x_vely ); + + //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->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 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->x_nightmode ) + cvZero( x->image ); + + cvCalcOpticalFlowHS( x->prev_grey, x->grey, + x->x_useprevious, x->x_velx, x->x_vely, + x->x_lambda, + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03) ); + + nbblocks = 0; + for( py=0; pyx_velsize.height; py++ ) + { + for( px=0; pxx_velsize.width; px++ ) + { + // post( "pdp_opencv_of_hs : (%d,%d) values (%f,%f)", px, py, velxf, velyf ); + orig.x = px; + orig.y = py; + dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]); + dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]); + angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] ); + hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) ); + + /* Now draw the tips of the arrow. I do some scaling so that the + * tips look proportional to the main line of the arrow. + */ + if (hypotenuse >= x->x_threshold) + { + cvLine( x->image, orig, dest, CV_RGB(0,255,0), 1, CV_AA, 0 ); + + orig.x = (int) (dest.x - (6) * cos(angle + M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(angle + M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(angle - M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(angle - M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 ); + meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1); + meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1); + if ( hypotenuse > maxamp ) + { + maxamp = hypotenuse; + maxangle = angle; + } + // post( "pdp_opencv_of_hs : block %d : amp : %f : angle : %f", nbblocks, hypotenuse, (angle*180)/M_PI ); + nbblocks++; + } + + } + } + + meanangle=-atan2( meany, meanx ); + // post( "pdp_opencv_of_hs : meanangle : %f", (meanangle*180)/M_PI ); + + if ( nbblocks >= x->x_minblocks ) + { + orig.x = (int) (x->x_width/2); + orig.y = (int) (x->x_height/2); + dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle)); + dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(meanangle + M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(meanangle + M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(meanangle - M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(meanangle - M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + + // outputs the average angle of movement + meanangle = (meanangle*180)/M_PI; + SETFLOAT(&x->x_list[0], meanangle); + outlet_list( x->x_outlet1, 0, 1, x->x_list ); + + // outputs the amplitude and angle of the maximum movement + maxangle = (maxangle*180)/M_PI; + SETFLOAT(&x->x_list[0], maxamp); + SETFLOAT(&x->x_list[1], maxangle); + outlet_list( x->x_outlet2, 0, 2, x->x_list ); + } + + memcpy( x->prev_grey->imageData, x->grey->imageData, x->x_size ); + + memcpy( newdata, x->image->imageData, x->x_size*3 ); + return; +} + +static void pdp_opencv_of_hs_nightmode(t_pdp_opencv_of_hs *x, t_floatarg f) +{ + if ((f==0.0)||(f==1.0)) x->x_nightmode = (int)f; +} + +static void pdp_opencv_of_hs_useprevious(t_pdp_opencv_of_hs *x, t_floatarg f) +{ + if ((f==0.0)||(f==1.0)) x->x_useprevious = (int)f; +} + +static void pdp_opencv_of_hs_minblocks(t_pdp_opencv_of_hs *x, t_floatarg f) +{ + if (f>=1.0) x->x_minblocks = (int)f; +} + +static void pdp_opencv_of_hs_threshold(t_pdp_opencv_of_hs *x, t_floatarg f) +{ + if (f>=0.0) x->x_threshold = (int)f; +} + +static void pdp_opencv_of_hs_lambda(t_pdp_opencv_of_hs *x, t_floatarg flambda ) +{ + if (flambda>0.0) x->x_lambda = (double)flambda; +} + +static void pdp_opencv_of_hs_sendpacket(t_pdp_opencv_of_hs *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_of_hs_process(t_pdp_opencv_of_hs *x) +{ + int encoding; + t_pdp *header = 0; + + /* check if image data packets are compatible */ + if ( (header = pdp_packet_header(x->x_packet0)) + && (PDP_BITMAP == header->type)){ + + /* pdp_opencv_of_hs_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_of_hs_process_rgb, (void*)pdp_opencv_of_hs_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_of_hs_process */ + break; + + } + } + +} + +static void pdp_opencv_of_hs_input_0(t_pdp_opencv_of_hs *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_of_hs_process(x); + } +} + +static void pdp_opencv_of_hs_free(t_pdp_opencv_of_hs *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->x_velx ); + cvReleaseImage( &x->x_vely ); +} + +t_class *pdp_opencv_of_hs_class; + +void *pdp_opencv_of_hs_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_of_hs *x = (t_pdp_opencv_of_hs *)pd_new(pdp_opencv_of_hs_class); + + x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet1 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet2 = 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_nightmode=0; + x->x_threshold=100; + x->x_lambda = 1.0; + x->x_useprevious = 0; + x->x_minblocks = 10; + x->x_velsize.width = x->x_width; + x->x_velsize.height = x->x_height; + + // 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 ); + x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + + x->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + + return (void *)x; +} + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +void pdp_opencv_of_hs_setup(void) +{ + + post( " pdp_opencv_of_hs"); + pdp_opencv_of_hs_class = class_new(gensym("pdp_opencv_of_hs"), (t_newmethod)pdp_opencv_of_hs_new, + (t_method)pdp_opencv_of_hs_free, sizeof(t_pdp_opencv_of_hs), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_nightmode, gensym("nightmode"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_threshold, gensym("threshold"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_useprevious, gensym("useprevious"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_lambda, gensym("lambda"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_hs_class, (t_method)pdp_opencv_of_hs_minblocks, gensym("minblocks"), A_FLOAT, A_NULL ); + +} + +#ifdef __cplusplus +} +#endif diff --git a/pdp_opencv_of_lk-help.pd b/pdp_opencv_of_lk-help.pd new file mode 100755 index 0000000..dc83e46 --- /dev/null +++ b/pdp_opencv_of_lk-help.pd @@ -0,0 +1,124 @@ +#N canvas 587 49 833 785 10; +#X obj -11 57 cnv 15 621 250 empty empty empty 20 12 0 14 -260097 -66577 +0; +#X obj 229 97 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 229 124 metro 40; +#X msg 310 146 close; +#X obj 249 222 pdp_v4l; +#X msg 306 119 open /dev/video0; +#X obj 423 95 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X obj 423 122 metro 40; +#X msg 500 145 close; +#X msg 493 121 open /dev/video0; +#X obj 424 221 pdp_v4l2; +#X msg 501 192 format \$1; +#X obj 502 170 hradio 15 1 0 4 empty empty empty 0 -8 0 10 -262144 +-1 -1 0; +#X obj 19 272 pdp_qt; +#X obj 52 208 metro 40; +#X msg 52 180 bang; +#X msg 93 180 stop; +#X obj 19 111 openpanel; +#X msg 19 136 open \$1; +#X msg 19 83 bang; +#X msg 53 235 loop \$1; +#X obj 133 235 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 1 +1; +#X obj 133 153 loadbang; +#X text 62 86 playing a video file; +#X text 259 95 Camera input; +#X obj 79 273 hsl 128 15 0 500 0 0 empty empty empty -2 -8 0 10 -262144 +-1 -1 0 1; +#X obj -10 311 cnv 15 621 400 empty empty empty 20 12 0 14 -258113 +-66577 0; +#X obj 17 718 pdp_xv; +#X obj 165 483 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X msg 80 481 nightmode \$1; +#X floatatom 150 403 5 0 0 0 - - -; +#X floatatom 154 428 5 0 0 0 - - -; +#X msg 67 426 threshold \$1; +#X text -10 0 with a great help from Mateu Batle & Alberto de Rodrigo +from the iBit foundation.; +#X floatatom 66 663 5 0 0 0 - - -; +#X obj 120 603 unpack f f; +#X floatatom 206 603 5 0 0 0 - - -; +#X floatatom 208 623 5 0 0 0 - - -; +#X text 248 602 largest amplitude of movement; +#X msg 70 455 minblocks \$1; +#X floatatom 157 456 5 0 0 0 - - -; +#X text 184 484 set nightmode; +#X text -11 -36 the main purpose of this object is to calculate the +average direction and the intensity of the movement in a video stream. +; +#X text 201 450 minimum nuber of blocks to detect the movement; +#X msg 32 156 bang; +#X text 108 684 marked with a white arrow on the stream; +#X obj 21 350 pdp_scale 320 240; +#X text 137 345 this object can work on small frames unless you have +a very powerful machine; +#X msg 435 150 bang; +#X text 108 660 average angle of the blocks movement; +#X text 248 623 angle of the block with the maximum movement; +#X text 246 635 ( in degrees [-180 \, 180]); +#X text 107 672 ( in degrees [-180 \, 180]); +#X obj 20 320 pdp_rotate; +#X floatatom 89 322 5 0 0 0 - - -; +#X text 127 314 you can rotate the object to check that the main direction +of movement is detected; +#X text -10 24 comments to ydegoyon@gmail.com; +#X obj 19 534 pdp_opencv_of_hs; +#X text 198 463 ( default 10 ); +#X msg 56 401 winsize \$1 \$2; +#X text 193 400 set window size ( width height ) [ default : 10x10 +]; +#X obj 421 253 pdp_xv; +#X text 195 424 threshold value for the detection of movement ( default +100 ); +#X text -11 -52 pdp_opencv_of_lk : Lukas Kanade optical flow algorithm. +; +#X connect 1 0 2 0; +#X connect 2 0 4 0; +#X connect 3 0 4 0; +#X connect 4 0 53 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 53 0; +#X connect 10 0 61 0; +#X connect 11 0 10 0; +#X connect 12 0 11 0; +#X connect 13 0 53 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 28 0 29 0; +#X connect 29 0 57 0; +#X connect 30 0 59 0; +#X connect 31 0 32 0; +#X connect 32 0 57 0; +#X connect 35 0 36 0; +#X connect 35 1 37 0; +#X connect 39 0 57 0; +#X connect 40 0 39 0; +#X connect 44 0 13 0; +#X connect 46 0 57 0; +#X connect 48 0 10 0; +#X connect 53 0 46 0; +#X connect 54 0 53 1; +#X connect 57 0 27 0; +#X connect 57 1 34 0; +#X connect 57 2 35 0; +#X connect 59 0 57 0; diff --git a/pdp_opencv_of_lk.cc b/pdp_opencv_of_lk.cc new file mode 100755 index 0000000..55aa0d4 --- /dev/null +++ b/pdp_opencv_of_lk.cc @@ -0,0 +1,358 @@ +/* + * 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. + * + * Horn and Schunck optical flow algorithm + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "pdp.h" + +#ifndef _EiC +#include "cv.h" +#endif + +typedef struct pdp_opencv_of_lk_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + t_outlet *x_outlet1; + t_outlet *x_outlet2; + t_atom x_list[3]; + + int x_packet0; + int x_packet1; + int x_dropped; + int x_queue_id; + + int x_width; + int x_height; + int x_size; + + // OpenCv structures + IplImage *image, *grey, *prev_grey, *swap_temp; + IplImage *x_velx, *x_vely; + CvSize x_velsize; + CvSize x_winsize; + + int x_nightmode; + int x_threshold; + int x_minblocks; + CvFont font; + +} t_pdp_opencv_of_lk; + +static void pdp_opencv_of_lk_process_rgb(t_pdp_opencv_of_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,im; + int marked; + int px,py; + double meanangle=0.0, meanx=0.0, meany=0.0, maxamp=0.0, maxangle=0.0; + int nbblocks=0; + CvPoint orig, dest; + double angle=0.0; + double hypotenuse=0.0; + char tindex[4]; + + if ((x->x_width != (t_int)header->info.image.width) || + (x->x_height != (t_int)header->info.image.height) || (!x->image)) + { + + post("pdp_opencv_of_lk :: 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; + + x->x_velsize.width = x->x_width; + x->x_velsize.height = x->x_height; + + //Destroy cv_images + cvReleaseImage( &x->image ); + cvReleaseImage( &x->grey ); + cvReleaseImage( &x->prev_grey ); + cvReleaseImage( &x->x_velx ); + cvReleaseImage( &x->x_vely ); + + //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->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 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->x_nightmode ) + cvZero( x->image ); + + cvCalcOpticalFlowLK( x->prev_grey, x->grey, + x->x_winsize, x->x_velx, x->x_vely ); + + nbblocks = 0; + for( py=0; pyx_velsize.height; py++ ) + { + for( px=0; pxx_velsize.width; px++ ) + { + // post( "pdp_opencv_of_lk : (%d,%d) values (%f,%f)", px, py, velxf, velyf ); + orig.x = px; + orig.y = py; + dest.x = (int)(orig.x + cvGet2D(x->x_velx, py, px).val[0]); + dest.y = (int)(orig.y + cvGet2D(x->x_vely, py, px).val[0]); + angle = -atan2( (double) cvGet2D(x->x_vely, py, px).val[0], (double) cvGet2D(x->x_velx, py, px).val[0] ); + hypotenuse = sqrt( pow(orig.y - dest.y, 2) + pow(orig.x - dest.x, 2) ); + + /* Now draw the tips of the arrow. I do some scaling so that the + * tips look proportional to the main line of the arrow. + */ + if (hypotenuse >= x->x_threshold) + { + cvLine( x->image, orig, dest, CV_RGB(0,255,0), 1, CV_AA, 0 ); + + orig.x = (int) (dest.x - (6) * cos(angle + M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(angle + M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(angle - M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(angle - M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(0,0,255), 1, CV_AA, 0 ); + meanx = (meanx*nbblocks+cvGet2D(x->x_velx, py, px).val[0])/(nbblocks+1); + meany = (meanx*nbblocks+cvGet2D(x->x_vely, py, px).val[0])/(nbblocks+1); + if ( hypotenuse > maxamp ) + { + maxamp = hypotenuse; + maxangle = angle; + } + // post( "pdp_opencv_of_lk : block %d : amp : %f : angle : %f", nbblocks, hypotenuse, (angle*180)/M_PI ); + nbblocks++; + } + + } + } + + meanangle=-atan2( meany, meanx ); + // post( "pdp_opencv_of_lk : meanangle : %f", (meanangle*180)/M_PI ); + + if ( nbblocks >= x->x_minblocks ) + { + orig.x = (int) (x->x_width/2); + orig.y = (int) (x->x_height/2); + dest.x = (int) (orig.x+((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*cos(meanangle)); + dest.y = (int) (orig.y-((x->x_width>x->x_height)?x->x_height/2:x->x_width/2)*sin(meanangle)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(meanangle + M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(meanangle + M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + orig.x = (int) (dest.x - (6) * cos(meanangle - M_PI / 4)); + orig.y = (int) (dest.y + (6) * sin(meanangle - M_PI / 4)); + cvLine( x->image, orig, dest, CV_RGB(255,255,255), 3, CV_AA, 0 ); + + // outputs the average angle of movement + meanangle = (meanangle*180)/M_PI; + SETFLOAT(&x->x_list[0], meanangle); + outlet_list( x->x_outlet1, 0, 1, x->x_list ); + + // outputs the amplitude and angle of the maximum movement + maxangle = (maxangle*180)/M_PI; + SETFLOAT(&x->x_list[0], maxamp); + SETFLOAT(&x->x_list[1], maxangle); + outlet_list( x->x_outlet2, 0, 2, x->x_list ); + } + + memcpy( x->prev_grey->imageData, x->grey->imageData, x->x_size ); + + memcpy( newdata, x->image->imageData, x->x_size*3 ); + return; +} + +static void pdp_opencv_of_lk_nightmode(t_pdp_opencv_of_lk *x, t_floatarg f) +{ + if ((f==0.0)||(f==1.0)) x->x_nightmode = (int)f; +} + +static void pdp_opencv_of_lk_minblocks(t_pdp_opencv_of_lk *x, t_floatarg f) +{ + if (f>=1.0) x->x_minblocks = (int)f; +} + +static void pdp_opencv_of_lk_threshold(t_pdp_opencv_of_lk *x, t_floatarg f) +{ + if (f>=0.0) x->x_threshold = (int)f; +} + +static void pdp_opencv_of_lk_winsize(t_pdp_opencv_of_lk *x, t_floatarg fwidth, t_floatarg fheight ) +{ + if (fwidth>0.0) x->x_winsize.width = (double)fwidth; + if (fheight>0.0) x->x_winsize.height = (double)fheight; +} + +static void pdp_opencv_of_lk_sendpacket(t_pdp_opencv_of_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_of_lk_process(t_pdp_opencv_of_lk *x) +{ + int encoding; + t_pdp *header = 0; + + /* check if image data packets are compatible */ + if ( (header = pdp_packet_header(x->x_packet0)) + && (PDP_BITMAP == header->type)){ + + /* pdp_opencv_of_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, (void*)pdp_opencv_of_lk_process_rgb, (void*)pdp_opencv_of_lk_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_of_lk_process */ + break; + + } + } + +} + +static void pdp_opencv_of_lk_input_0(t_pdp_opencv_of_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((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_of_lk_process(x); + } +} + +static void pdp_opencv_of_lk_free(t_pdp_opencv_of_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->x_velx ); + cvReleaseImage( &x->x_vely ); +} + +t_class *pdp_opencv_of_lk_class; + +void *pdp_opencv_of_lk_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_of_lk *x = (t_pdp_opencv_of_lk *)pd_new(pdp_opencv_of_lk_class); + + x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet1 = outlet_new(&x->x_obj, &s_anything); + x->x_outlet2 = 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_nightmode=0; + x->x_threshold=100; + x->x_minblocks = 10; + x->x_velsize.width = x->x_width; + x->x_velsize.height = x->x_height; + x->x_winsize.width = 10; + x->x_winsize.height = 10; + + // 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 ); + x->prev_grey = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + + x->x_velx = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + x->x_vely = cvCreateImage( x->x_velsize, IPL_DEPTH_32F, 1 ); + + return (void *)x; +} + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +void pdp_opencv_of_lk_setup(void) +{ + + post( " pdp_opencv_of_lk"); + pdp_opencv_of_lk_class = class_new(gensym("pdp_opencv_of_lk"), (t_newmethod)pdp_opencv_of_lk_new, + (t_method)pdp_opencv_of_lk_free, sizeof(t_pdp_opencv_of_lk), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_of_lk_class, (t_method)pdp_opencv_of_lk_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_of_lk_class, (t_method)pdp_opencv_of_lk_nightmode, gensym("nightmode"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_lk_class, (t_method)pdp_opencv_of_lk_threshold, gensym("threshold"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_lk_class, (t_method)pdp_opencv_of_lk_winsize, gensym("winsize"), A_FLOAT, A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_of_lk_class, (t_method)pdp_opencv_of_lk_minblocks, gensym("minblocks"), A_FLOAT, A_NULL ); + +} + +#ifdef __cplusplus +} +#endif -- cgit v1.2.1