From db131dd7f6e5f9c222198a74b3f11e7f99f4da70 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?llu=C3=ADs=20g=C3=B3mez=20i=20bigord=C3=A0?= Date: Sun, 25 May 2008 21:32:41 +0000 Subject: First svn commit svn path=/trunk/externals/pdp_opencv/; revision=9912 --- pdp_opencv_lk.c | 345 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 345 insertions(+) create mode 100644 pdp_opencv_lk.c (limited to 'pdp_opencv_lk.c') diff --git a/pdp_opencv_lk.c b/pdp_opencv_lk.c new file mode 100644 index 0000000..32a7488 --- /dev/null +++ b/pdp_opencv_lk.c @@ -0,0 +1,345 @@ +/* + * 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 + + +const int MAX_COUNT = 500; + +typedef struct pdp_opencv_lk_struct +{ + t_object x_obj; + t_float x_f; + + t_outlet *x_outlet0; + 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 win_size; + + // The output and temporary images + IplImage *image, *grey, *prev_grey, *pyramid, *prev_pyramid, *swap_temp; + + CvPoint2D32f* points[2], *swap_points; + char* status; + int count; + int need_to_init; + int night_mode; + int flags; + int add_remove_pt; + CvPoint pt; + + +} t_pdp_opencv_lk; + + + +static void pdp_opencv_lk_process_rgb(t_pdp_opencv_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; + + + if ((x->x_width != (t_int)header->info.image.width) || + (x->x_height != (t_int)header->info.image.height) || (!x->image)) + { + + post("pdp_opencv_lk :: resizing plugins"); + + //cv_freeplugins(x); + + 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 ); + cvReleaseImage( &x->prev_grey ); + cvReleaseImage( &x->pyramid ); + cvReleaseImage( &x->prev_pyramid ); + + //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->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0])); + x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0])); + x->status = (char*)cvAlloc(MAX_COUNT); + } + + 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 ); + + + // FEM UNA COPIA DEL PACKET A x->grey->imageData ... http://www.cs.iit.edu/~agam/cs512/lect-notes/opencv-intro/opencv-intro.html aqui veiem la estructura de IplImage + memcpy( x->image->imageData, data, x->x_size*3 ); + + cvCvtColor( x->image, x->grey, CV_BGR2GRAY ); + + if( x->night_mode ) + cvZero( x->image ); + + if( x->need_to_init ) + { + /* automatic initialization */ + IplImage* eig = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 ); + IplImage* temp = cvCreateImage( cvSize(x->grey->width,x->grey->height), 32, 1 ); + double quality = 0.01; + double min_distance = 10; + + x->count = MAX_COUNT; + cvGoodFeaturesToTrack( x->grey, eig, temp, x->points[1], &x->count, + quality, min_distance, 0, 3, 0, 0.04 ); + cvFindCornerSubPix( x->grey, x->points[1], x->count, + cvSize(x->win_size,x->win_size), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)); + cvReleaseImage( &eig ); + cvReleaseImage( &temp ); + + x->add_remove_pt = 0; + } + else if( x->count > 0 ) + { + cvCalcOpticalFlowPyrLK( x->prev_grey, x->grey, x->prev_pyramid, x->pyramid, + x->points[0], x->points[1], x->count, cvSize(x->win_size,x->win_size), 3, x->status, 0, + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03), x->flags ); + x->flags |= CV_LKFLOW_PYR_A_READY; + for( i = k = 0; i < x->count; i++ ) + { + if( x->add_remove_pt ) + { + double dx = x->pt.x - x->points[1][i].x; + double dy = x->pt.y - x->points[1][i].y; + + if( dx*dx + dy*dy <= 25 ) + { + x->add_remove_pt = 0; + continue; + } + } + + if( !x->status[i] ) + continue; + + x->points[1][k++] = x->points[1][i]; + cvCircle( x->image, cvPointFrom32f(x->points[1][i]), 3, CV_RGB(0,255,0), -1, 8,0); + } + x->count = k; + } + + if( x->add_remove_pt && x->count < MAX_COUNT ) + { + x->points[1][x->count++] = cvPointTo32f(x->pt); + cvFindCornerSubPix( x->grey, x->points[1] + x->count - 1, 1, + cvSize(x->win_size,x->win_size), cvSize(-1,-1), + cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03)); + x->add_remove_pt = 0; + } + + CV_SWAP( x->prev_grey, x->grey, x->swap_temp ); + CV_SWAP( x->prev_pyramid, x->pyramid, x->swap_temp ); + CV_SWAP( x->points[0], x->points[1], x->swap_points ); + x->need_to_init = 0; + + memcpy( newdata, x->image->imageData, x->x_size*3 ); + + + return; +} + + +static void pdp_opencv_lk_thresh(t_pdp_opencv_lk *x, t_floatarg f) +{ + if ((f==1)||(f==3)||(f==5)||(f==7)) x->win_size = (int)f; +} + +static void pdp_opencv_lk_sendpacket(t_pdp_opencv_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_lk_process(t_pdp_opencv_lk *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_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, pdp_opencv_lk_process_rgb, pdp_opencv_lk_sendpacket, &x->x_queue_id); + break; + + default: + /* don't know the type, so dont pdp_opencv_lk_process */ + break; + + } + } + +} + +static void pdp_opencv_lk_input_0(t_pdp_opencv_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("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_lk_process(x); + } +} + +static void pdp_opencv_lk_free(t_pdp_opencv_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->pyramid ); + cvReleaseImage( &x->prev_pyramid ); +} + +t_class *pdp_opencv_lk_class; + + +void *pdp_opencv_lk_new(t_floatarg f) +{ + int i; + + t_pdp_opencv_lk *x = (t_pdp_opencv_lk *)pd_new(pdp_opencv_lk_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_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->win_size = 10; + + IplImage *image = 0, *grey = 0, *prev_grey = 0, *pyramid = 0, *prev_pyramid = 0, *swap_temp; + + x->points [0] = 0; + x->points [1] = 0; + x->status = 0; + x->count = 0; + x->need_to_init = 1; + x->night_mode = 0; + x->flags = 0; + x->add_remove_pt = 0; + + + 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->pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + x->prev_pyramid = cvCreateImage( cvSize(x->x_width, x->x_height), 8, 1 ); + x->points[0] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0])); + x->points[1] = (CvPoint2D32f*)cvAlloc(MAX_COUNT*sizeof(x->points[0][0])); + x->status = (char*)cvAlloc(MAX_COUNT); + + + return (void *)x; +} + + +#ifdef __cplusplus +extern "C" +{ +#endif + + +void pdp_opencv_lk_setup(void) +{ + + post( " pdp_opencv_lk"); + pdp_opencv_lk_class = class_new(gensym("pdp_opencv_lk"), (t_newmethod)pdp_opencv_lk_new, + (t_method)pdp_opencv_lk_free, sizeof(t_pdp_opencv_lk), 0, A_DEFFLOAT, A_NULL); + + class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_input_0, gensym("pdp"), A_SYMBOL, A_DEFFLOAT, A_NULL); + class_addmethod(pdp_opencv_lk_class, (t_method)pdp_opencv_lk_thresh, gensym("win_size"), A_FLOAT, A_NULL ); + +} + +#ifdef __cplusplus +} +#endif -- cgit v1.2.1