From cf9dc8196ff70332e7c1c5a7524cd14ade133eeb Mon Sep 17 00:00:00 2001 From: "N.N." Date: Sun, 23 Aug 2009 19:09:47 +0000 Subject: added hough lines detector svn path=/trunk/externals/pdp_opencv/; revision=12048 --- Makefile | 6 +- pdp_opencv_hough_lines-help.pd | 131 ++++++++++++++ pdp_opencv_hough_lines.cc | 393 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 527 insertions(+), 3 deletions(-) create mode 100644 pdp_opencv_hough_lines-help.pd create mode 100644 pdp_opencv_hough_lines.cc diff --git a/Makefile b/Makefile index 77c508f..2104754 100644 --- a/Makefile +++ b/Makefile @@ -1,5 +1,5 @@ -PD_DIR = /usr/local/pd -PDP_DIR = /usr/local/pd/pdp +PD_DIR = ../../pd +PDP_DIR = ../pdp GEM_OPENCV_VERSION = 0.1 @@ -37,7 +37,7 @@ endif .SUFFIXES = $(EXTENSION) -SOURCES = pdp_opencv_threshold.c pdp_opencv_edge.c pdp_opencv_distrans.c pdp_opencv_laplace.c pdp_opencv_motempl.c pdp_opencv_morphology.c pdp_opencv_haarcascade.c pdp_opencv_contours_convexity.c pdp_opencv_contours_boundingrect.c pdp_opencv_bgsubstract.c pdp_opencv_lk.c pdp_opencv_floodfill.c pdp_opencv_hist_compare.c pdp_opencv_dft.c pdp_opencv_knear.cc pdp_opencv_hu_moments.c pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_surf.cc pdp_opencv_athreshold.c pdp_opencv_channels.cc +SOURCES = pdp_opencv_threshold.c pdp_opencv_edge.c pdp_opencv_distrans.c pdp_opencv_laplace.c pdp_opencv_motempl.c pdp_opencv_morphology.c pdp_opencv_haarcascade.c pdp_opencv_contours_convexity.c pdp_opencv_contours_boundingrect.c pdp_opencv_bgsubstract.c pdp_opencv_lk.c pdp_opencv_floodfill.c pdp_opencv_hist_compare.c pdp_opencv_dft.c pdp_opencv_knear.cc pdp_opencv_hu_moments.c pdp_opencv_hu_compare.cc pdp_opencv_pgh_compare.cc pdp_opencv_bgstats.cc pdp_opencv_surf.cc pdp_opencv_athreshold.c pdp_opencv_hough_lines.cc pdp_opencv_channels.cc all: $(SOURCES:.c=.$(EXTENSION)) $(SOURCES:.cc=.$(EXTENSION)) diff --git a/pdp_opencv_hough_lines-help.pd b/pdp_opencv_hough_lines-help.pd new file mode 100644 index 0000000..40ba799 --- /dev/null +++ b/pdp_opencv_hough_lines-help.pd @@ -0,0 +1,131 @@ +#N canvas 588 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 0 +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 201 440 tgl 15 0 empty empty empty 17 7 0 10 -262144 -1 -1 0 +1; +#X msg 116 438 nightmode \$1; +#X text 220 441 set nightmode; +#X floatatom 147 288 5 0 0 0 - - -; +#X floatatom 153 564 5 0 0 0 - - -; +#X floatatom 189 565 5 0 0 0 - - -; +#X obj 153 524 route 1 2 3 4 5 6 7 8 9 10; +#X obj 14 494 pdp_opencv_hough_lines; +#X text 322 523 position of each line; +#X obj 153 544 unpack f f f f; +#X text 156 578 X1; +#X text 192 578 Y1; +#X floatatom 226 565 5 0 0 0 - - -; +#X floatatom 262 566 5 0 0 0 - - -; +#X text 229 579 X2; +#X text 265 579 Y2; +#X msg 43 260 mode \$1; +#X text 42 240 Detection mode; +#X obj 139 231 vradio 15 1 0 3 empty empty empty 0 -8 0 10 -262144 +-1 -1 0; +#X text 160 231 CV_HOUGH_STANDARD; +#X text 160 245 CV_HOUGH_PROBABILISTIC; +#X text 161 261 CV_HOUGN_MULTI_SCALE; +#X msg 58 285 threshold \$1; +#X msg 72 315 minlength \$1; +#X floatatom 158 316 5 0 0 0 - - -; +#X floatatom 138 342 5 0 0 0 - - -; +#X msg 87 341 gap \$1; +#X text 181 342 gap betwwen lines ( default 10 \, for mode CV_HOUGH_PROBABILISTIC +); +#X text 195 313 minimum length ( default 30 \, for mode CV_HOUGH_PROBABILISTIC +); +#X floatatom 192 380 5 0 0 0 - - -; +#X floatatom 214 412 5 0 0 0 - - -; +#X msg 91 378 aresolution \$1; +#X msg 109 410 dresolutyion \$1; +#X text 258 408 distance resolution ( default 1 \, for mode CV_HOUGH_MULTI_SCALE +); +#X text 230 377 angle resolution ( default 1 \, for mode CV_HOUGH_MULTI_SCALE +); +#X obj 13 621 pdp_xv; +#X msg 34 213 maxlines \$1; +#X floatatom 113 214 5 0 0 0 - - -; +#X text 154 210 maximum nuber of lines detected ( default : 10 ); +#X text -14 -110 pdp_opencv_hough_lines : Hough lines algorithm; +#X text 186 284 threshold ( default 200 ); +#X connect 2 0 3 0; +#X connect 3 0 5 0; +#X connect 4 0 5 0; +#X connect 5 0 35 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 35 0; +#X connect 12 0 11 0; +#X connect 13 0 12 0; +#X connect 14 0 35 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 35 0; +#X connect 31 0 50 0; +#X connect 34 0 37 0; +#X connect 35 0 63 0; +#X connect 35 1 34 0; +#X connect 37 0 32 0; +#X connect 37 1 33 0; +#X connect 37 2 40 0; +#X connect 37 3 41 0; +#X connect 44 0 35 0; +#X connect 46 0 44 0; +#X connect 50 0 35 0; +#X connect 51 0 35 0; +#X connect 52 0 51 0; +#X connect 53 0 54 0; +#X connect 54 0 35 0; +#X connect 57 0 59 0; +#X connect 58 0 60 0; +#X connect 59 0 35 0; +#X connect 60 0 35 0; +#X connect 64 0 35 0; +#X connect 65 0 64 0; diff --git a/pdp_opencv_hough_lines.cc b/pdp_opencv_hough_lines.cc new file mode 100644 index 0000000..535e1ca --- /dev/null +++ b/pdp_opencv_hough_lines.cc @@ -0,0 +1,393 @@ +/* + * 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_lines_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + t_outlet *x_outlet1; + 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; + + // The output and temporary images + IplImage *image, *grey; + + int x_mode; + int x_threshold; + int x_maxlines; + double x_minlength; + double x_gap; + double x_aresolution; + double x_dresolution; + int night_mode; + CvFont font; + CvMemStorage* x_storage; + CvSeq* x_lines; + +} t_pdp_opencv_hough_lines; + +static void pdp_opencv_hough_lines_process_rgb(t_pdp_opencv_hough_lines *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,ulines; + + 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_lines :: 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 ); + // hard-coded cvCanny, it's what works + cvCanny( x->grey, x->grey, 50, 200, 3 ); + + if( x->night_mode ) + cvZero( x->image ); + + x->x_storage = cvCreateMemStorage(0); + + switch( x->x_mode ) + { + + case CV_HOUGH_STANDARD: + + x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, 0, 0 ); + + if ( x->x_lines ) + { + ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total; + // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines ); + for( i=0; ix_lines,i); + float rho = line[0]; + float theta = line[1]; + CvPoint pt1, pt2; + char tindex[10]; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( x->image, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + sprintf( tindex, "%d", i ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + cvPutText( x->image, tindex, pt1, &x->font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_PROBABILISTIC: + + x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, x->x_minlength, x->x_gap ); + + if ( x->x_lines ) + { + ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total; + // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines ); + for( i=0; ix_lines,i); + char tindex[10]; + cvLine( x->image, line[0], line[1], CV_RGB(255,0,0), 3, 8 ); + sprintf( tindex, "%d", i ); + line[0].x = (line[0].x+line[1].x)/2; + line[0].y = (line[0].y+line[1].y)/2; + cvPutText( x->image, tindex, line[0], &x->font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_MULTI_SCALE: + + x->x_lines = cvHoughLines2( x->grey, x->x_storage, x->x_mode, 1, CV_PI/180, x->x_threshold, x->x_dresolution, x->x_aresolution ); + + if ( x->x_lines ) + { + ulines = ( x->x_lines->total >= x->x_maxlines ) ? x->x_maxlines:x->x_lines->total; + // post( "pdp_opencv_hough_lines : found %d lines, shown : %d", x->x_lines->total, ulines ); + for( i = 0; i < ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x->x_lines,i); + float rho = line[0]; + float theta = line[1]; + char tindex[10]; + CvPoint pt1, pt2; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( x->image, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + sprintf( tindex, "%d", i ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + cvPutText( x->image, tindex, pt1, &x->font, CV_RGB(255,255,255)); + } + } + break; + } + + cvReleaseMemStorage( &x->x_storage ); + + memcpy( newdata, x->image->imageData, x->x_size*3 ); + return; +} + +static void pdp_opencv_hough_lines_nightmode(t_pdp_opencv_hough_lines *x, t_floatarg fmode) +{ + if ((fmode==0.0)||(fmode==1.0)) x->night_mode = (int)fmode; +} + +static void pdp_opencv_hough_lines_threshold(t_pdp_opencv_hough_lines *x, t_floatarg fthresh) +{ + if (fthresh>0.0) x->x_threshold = (int)fthresh; +} + +static void pdp_opencv_hough_lines_minlength(t_pdp_opencv_hough_lines *x, t_floatarg flength) +{ + if (flength>0.0) x->x_minlength = (double)flength; +} + +static void pdp_opencv_hough_lines_maxlines(t_pdp_opencv_hough_lines *x, t_floatarg fmaxlines) +{ + if (fmaxlines>0.0) x->x_maxlines = (int)fmaxlines; +} + +static void pdp_opencv_hough_lines_gap(t_pdp_opencv_hough_lines *x, t_floatarg fgap) +{ + if (fgap>0.0) x->x_gap = (double)fgap; +} + +static void pdp_opencv_hough_lines_aresolution(t_pdp_opencv_hough_lines *x, t_floatarg fresol) +{ + if (fresol>0.0) x->x_aresolution = (double)fresol; +} + +static void pdp_opencv_hough_lines_dresolution(t_pdp_opencv_hough_lines *x, t_floatarg fresol) +{ + if (fresol>0.0) x->x_dresolution = (double)fresol; +} + +static void pdp_opencv_hough_lines_mode(t_pdp_opencv_hough_lines *x, t_floatarg fmode ) +{ + if ( fmode == CV_HOUGH_STANDARD ) + { + x->x_mode = CV_HOUGH_STANDARD; + } + if ( fmode == CV_HOUGH_PROBABILISTIC ) + { + x->x_mode = CV_HOUGH_PROBABILISTIC; + } + if ( fmode == CV_HOUGH_MULTI_SCALE ) + { + x->x_mode = CV_HOUGH_MULTI_SCALE; + } +} + +static void pdp_opencv_hough_lines_sendpacket(t_pdp_opencv_hough_lines *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_lines_process(t_pdp_opencv_hough_lines *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_lines_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_lines_process_rgb, (void*)pdp_opencv_hough_lines_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_hough_lines_process */ + break; + + } + } + +} + +static void pdp_opencv_hough_lines_input_0(t_pdp_opencv_hough_lines *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_lines_process(x); + } +} + +static void pdp_opencv_hough_lines_free(t_pdp_opencv_hough_lines *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_lines_class; + +void *pdp_opencv_hough_lines_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_hough_lines *x = (t_pdp_opencv_hough_lines *)pd_new(pdp_opencv_hough_lines_class); + inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("win_size")); + + 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_mode = CV_HOUGH_STANDARD; + x->x_threshold = 200; + x->x_maxlines = 10; + x->x_minlength = 30.0; + x->x_gap = 10.0; + x->x_aresolution = 10.0; + x->x_dresolution = 30.0; + 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_lines_setup(void) +{ + + post( " pdp_opencv_hough_lines"); + pdp_opencv_hough_lines_class = class_new(gensym("pdp_opencv_hough_lines"), (t_newmethod)pdp_opencv_hough_lines_new, + (t_method)pdp_opencv_hough_lines_free, sizeof(t_pdp_opencv_hough_lines), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_nightmode, gensym("nightmode"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_mode, gensym("mode"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_threshold, gensym("threshold"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_minlength, gensym("minlength"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_gap, gensym("gap"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_aresolution, gensym("aresolution"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_dresolution, gensym("dresolution"), A_FLOAT, A_NULL ); + class_addmethod(pdp_opencv_hough_lines_class, (t_method)pdp_opencv_hough_lines_maxlines, gensym("maxlines"), A_FLOAT, A_NULL ); +} + +#ifdef __cplusplus +} +#endif -- cgit v1.2.1