aboutsummaryrefslogtreecommitdiff
path: root/pdp_opencv_motempl.c
blob: d20e75d5d004f08226e1309e75a79131657f7df8 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
/*
 *   Pure Data Packet module.
 *   Copyright (c) by Tom Schouten <pdp@zzz.kotnet.org>
 *
 *   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 <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <dirent.h>
#include <limits.h>
#include <dlfcn.h>

#include "pdp.h"

#ifndef _EiC
#include "cv.h"
#include <time.h>
#include <math.h>
#include <ctype.h>
#endif



typedef struct pdp_opencv_motempl_struct
{
    t_object x_obj;
    t_float x_f;

    t_outlet *x_outlet0;
    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_thresh;
    int x_mhi_duration;

    int x_infosok; 

    // ring image buffer
    IplImage **buf;
    int last;

    // temporary images
    IplImage *mhi; // MHI
    IplImage *orient; // orientation
    IplImage *mask; // valid orientation mask
    IplImage *segmask; // motion segmentation map
    CvMemStorage* storage; // temporary storage
    
    IplImage* image;
    IplImage* motion;

    // various tracking parameters (in seconds)
    double max_time_delta;
    double min_time_delta;
    // number of cyclic frame buffer used for motion detection
    // (should, probably, depend on FPS)
    int frame_buffer_num; 

    int max_size;
    int min_size;
    
} t_pdp_opencv_motempl;

void  pdp_opencv_motempl_update_mhi( t_pdp_opencv_motempl *x, IplImage* img, IplImage* dst, int diff_threshold )
{
    double timestamp = (double)clock()/CLOCKS_PER_SEC; // get current time in seconds
    CvSize size = cvSize(img->width,img->height); // get current frame size
    int i, idx1 = x->last, idx2;
    IplImage* silh;
    CvSeq* seq;
    CvRect comp_rect;
    double count;
    double angle;
    CvPoint center;
    double magnitude;          
    CvScalar color;

    // allocate images at the beginning or
    // reallocate them if the frame size is changed
    if( !x->mhi || x->mhi->width != size.width || x->mhi->height != size.height || !x->buf ) {
        if( x->buf == 0 ) {
            x->buf = (IplImage**)malloc(x->frame_buffer_num*sizeof(x->buf[0]));
            memset( x->buf, 0, x->frame_buffer_num*sizeof(x->buf[0]));
        }
        
        for( i = 0; i < x->frame_buffer_num; i++ ) {
            cvReleaseImage( &x->buf[i] );
            x->buf[i] = cvCreateImage( size, IPL_DEPTH_8U, 1 );
            cvZero( x->buf[i] );
        }
        cvReleaseImage( &x->mhi );
        cvReleaseImage( &x->orient );
        cvReleaseImage( &x->segmask );
        cvReleaseImage( &x->mask );
        
        x->mhi = cvCreateImage( size, IPL_DEPTH_32F, 1 );
        cvZero( x->mhi ); // clear MHI at the beginning
        x->orient = cvCreateImage( size, IPL_DEPTH_32F, 1 );
        x->segmask = cvCreateImage( size, IPL_DEPTH_32F, 1 );
        x->mask = cvCreateImage( size, IPL_DEPTH_8U, 1 );
    }

    cvCvtColor( img, x->buf[x->last], CV_BGR2GRAY ); // convert frame to grayscale

    idx2 = (x->last + 1) % x->frame_buffer_num; // index of (last - (N-1))th frame
    x->last = idx2;

    silh = x->buf[idx2];
    cvAbsDiff( x->buf[idx1], x->buf[idx2], silh ); // get difference between frames
    
    cvThreshold( silh, silh, diff_threshold, 1, CV_THRESH_BINARY ); // and threshold it
    cvUpdateMotionHistory( silh, x->mhi, timestamp, x->x_mhi_duration ); // update MHI

    // convert MHI to red 8u image
    cvCvtScale( x->mhi, x->mask, 255./x->x_mhi_duration,
                (x->x_mhi_duration - timestamp)*255./x->x_mhi_duration );
    cvZero( dst );
    cvCvtPlaneToPix( x->mask, 0, 0, 0, dst );

    // calculate motion gradient orientation and valid orientation mask
    cvCalcMotionGradient( x->mhi, x->mask, x->orient, x->max_time_delta, x->min_time_delta, 3 ); 
    
    if( !x->storage )
        x->storage = cvCreateMemStorage(0);
    else
        cvClearMemStorage(x->storage);
    
    // segment motion: get sequence of motion components
    // segmask is marked motion components map. It is not used further
    seq = cvSegmentMotion( x->mhi, x->segmask, x->storage, timestamp, x->max_time_delta ); 

    // iterate through the motion components,
    // One more iteration (i == -1) corresponds to the whole image (global motion)
    for( i = -1; i < seq->total; i++ ) {

        if( i < 0 ) { // case of the whole image
            comp_rect = cvRect( 0, 0, size.width, size.height );
            color = CV_RGB(255,255,255);
            magnitude = 100;
        }
        else { // i-th motion component
            comp_rect = ((CvConnectedComp*)cvGetSeqElem( seq, i ))->rect;
            if(( comp_rect.width + comp_rect.height < x->min_size )||( comp_rect.width + comp_rect.height > x->max_size )) // reject very small/big components 
                continue;
            color = CV_RGB(255,0,0);
            magnitude = (comp_rect.width + comp_rect.height) / 4;
        }

        // select component ROI
        cvSetImageROI( silh, comp_rect );
        cvSetImageROI( x->mhi, comp_rect );
        cvSetImageROI( x->orient, comp_rect );
        cvSetImageROI( x->mask, comp_rect );

        // calculate orientation
        angle = cvCalcGlobalOrientation( x->orient, x->mask, x->mhi, timestamp, x->x_mhi_duration);
        angle = 360.0 - angle;  // adjust for images with top-left origin

        count = cvNorm( silh, 0, CV_L1, 0 ); // calculate number of points within silhouette ROI

        cvResetImageROI( x->mhi );
        cvResetImageROI( x->orient );
        cvResetImageROI( x->mask );
        cvResetImageROI( silh );

        // check for the case of little motion
        if( count < comp_rect.width*comp_rect.height * 0.05 )
            continue;

        // draw a clock with arrow indicating the direction
        center = cvPoint( (comp_rect.x + comp_rect.width/2),
                          (comp_rect.y + comp_rect.height/2) );

        cvCircle( dst, center, cvRound(magnitude*1.2), color, 3, CV_AA, 0 );
        cvLine( dst, center, cvPoint( cvRound( center.x + magnitude*cos(angle*CV_PI/180)),
                cvRound( center.y - magnitude*sin(angle*CV_PI/180))), color, 3, CV_AA, 0 );


    	 t_atom rlist[6];
         SETFLOAT(&rlist[0], i);
         SETFLOAT(&rlist[1], center.x);
         SETFLOAT(&rlist[2], center.y);
         SETFLOAT(&rlist[3], comp_rect.width);
         SETFLOAT(&rlist[4], comp_rect.height);
         SETFLOAT(&rlist[5], angle);
    	 outlet_list( x->x_dataout, 0, 6, rlist );
    }
}




static void pdp_opencv_motempl_process_rgb(t_pdp_opencv_motempl *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;
      

    if ((x->x_width != (t_int)header->info.image.width) || 
        (x->x_height != (t_int)header->info.image.height)) 
    {

    	post("pdp_opencv_motempl :: 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->motion );
   
	//Create cv_images 
    	x->image = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
    	x->motion = cvCreateImage( cvSize(x->image->width,x->image->height), 8, 3 );
    	cvZero( x->motion );
    	x->motion->origin = x->image->origin;
    }
    
    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 );
        
    pdp_opencv_motempl_update_mhi( x, x->image, x->motion, x->x_thresh );

    memcpy( newdata, x->motion->imageData, x->x_size*3 );

 
    return;
}

static void pdp_opencv_motempl_thresh(t_pdp_opencv_motempl *x, t_floatarg f)
{
	x->x_thresh = (int)f;
}

static void pdp_opencv_motempl_min_size(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>=0) x->min_size = (int)f;
}

static void pdp_opencv_motempl_max_size(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>=0) x->max_size = (int)f;
}

static void pdp_opencv_motempl_mhi_duration(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>=1) x->x_mhi_duration = (int)f;
}

static void pdp_opencv_motempl_max_time_delta(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>0) x->max_time_delta = f;
}

static void pdp_opencv_motempl_min_time_delta(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>0) x->min_time_delta = f;
}

static void pdp_opencv_motempl_frame_buffer_num(t_pdp_opencv_motempl *x, t_floatarg f)
{
	if (f>=1) x->frame_buffer_num = (int)f;
	x->buf = NULL;
}

static void pdp_opencv_motempl_sendpacket(t_pdp_opencv_motempl *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_motempl_process(t_pdp_opencv_motempl *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_motempl_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_motempl_process_rgb, pdp_opencv_motempl_sendpacket, &x->x_queue_id);
	    break;

	default:
	    /* don't know the type, so dont pdp_opencv_motempl_process */
	    break;
	    
	}
    }

}

static void pdp_opencv_motempl_input_0(t_pdp_opencv_motempl *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_motempl_process(x);
    }
}

static void pdp_opencv_motempl_free(t_pdp_opencv_motempl *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->motion );
}

t_class *pdp_opencv_motempl_class;


void *pdp_opencv_motempl_new(t_floatarg f)
{
    int i;

    t_pdp_opencv_motempl *x = (t_pdp_opencv_motempl *)pd_new(pdp_opencv_motempl_class);
    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("threshold"));
    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("min_size"));
    inlet_new(&x->x_obj, &x->x_obj.ob_pd, &s_float, gensym("max_size"));

    x->x_outlet0 = outlet_new(&x->x_obj, &s_anything); 
    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->x_thresh = 30;
    x->x_mhi_duration = 1;
	
    x->last = 0;
    // various tracking parameters (in seconds)
    x->max_time_delta = 0.5;
    x->min_time_delta = 0.05;
    // number of cyclic frame buffer used for motion detection
    // (should, probably, depend on FPS)
    x->frame_buffer_num = 4;

    x->min_size=50;
    x->max_size=500; 
    
    x->image = cvCreateImage(cvSize(x->x_width,x->x_height), IPL_DEPTH_8U, 3);
    x->motion = cvCreateImage( cvSize(x->image->width,x->image->height), 8, 3 );
    cvZero( x->motion );
    x->motion->origin = x->image->origin;

    x->storage = NULL; 


    return (void *)x;
}


#ifdef __cplusplus
extern "C"
{
#endif


void pdp_opencv_motempl_setup(void)
{

    post( "		pdp_opencv_motempl");
    pdp_opencv_motempl_class = class_new(gensym("pdp_opencv_motempl"), (t_newmethod)pdp_opencv_motempl_new,
    	(t_method)pdp_opencv_motempl_free, sizeof(t_pdp_opencv_motempl), 0, A_DEFFLOAT, A_NULL);

    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_input_0, gensym("pdp"),  A_SYMBOL, A_DEFFLOAT, A_NULL);
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_thresh, gensym("threshold"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_mhi_duration, gensym("mhi_duration"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_max_time_delta, gensym("max_time_delta"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_min_time_delta, gensym("min_time_delta"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_frame_buffer_num, gensym("frame_buffer_num"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_min_size, gensym("min_size"),  A_FLOAT, A_NULL );   
    class_addmethod(pdp_opencv_motempl_class, (t_method)pdp_opencv_motempl_max_size, gensym("max_size"),  A_FLOAT, A_NULL );   

}

#ifdef __cplusplus
}
#endif