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 --- pdp_opencv_of_lk.cc | 358 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 358 insertions(+) create mode 100755 pdp_opencv_of_lk.cc (limited to 'pdp_opencv_of_lk.cc') 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