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Diffstat (limited to 'pix_opencv_surf.cc')
-rw-r--r--pix_opencv_surf.cc171
1 files changed, 107 insertions, 64 deletions
diff --git a/pix_opencv_surf.cc b/pix_opencv_surf.cc
index adcd2b1..6fc1e59 100644
--- a/pix_opencv_surf.cc
+++ b/pix_opencv_surf.cc
@@ -40,7 +40,7 @@ pix_opencv_surf :: pix_opencv_surf()
m_dataout = outlet_new(this->x_obj, &s_anything);
night_mode = 0;
- x_maxmove = 8;
+ x_maxmove = 20;
x_delaunay = -1;
x_threshold = -1;
@@ -88,10 +88,11 @@ pix_opencv_surf :: ~pix_opencv_surf()
void pix_opencv_surf :: processRGBAImage(imageStruct &image)
{
int i, k;
- int im;
+ int im, oi;
int marked;
int descsize;
char tindex[4];
+ float dist, odist;
if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
{
@@ -202,15 +203,16 @@ void pix_opencv_surf :: processRGBAImage(imageStruct &image)
for ( im=0; im<MAX_MARKERS; im++ )
{
- if ( x_xmark[im] != -1.0 )
- {
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
marked = 1;
// post( "pdp_opencv_surf : point already marked" );
break;
}
- }
}
if ( !marked )
{
@@ -234,6 +236,11 @@ void pix_opencv_surf :: processRGBAImage(imageStruct &image)
int neighbour = -1;
double d, dist1 = 1000000, dist2 = 1000000;
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ oi=-1;
+ dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
+
for( i = 0; i < objectKeypoints->total; i++ )
{
CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
@@ -242,24 +249,31 @@ void pix_opencv_surf :: processRGBAImage(imageStruct &image)
// manually marked points
// recognized on position
- if ( x_xmark[im] != -1.0 )
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
- {
- sprintf( tindex, "%d", im+1 );
- cvPutText( rgb, tindex, cvPointFrom32f(r1->pt), &font, CV_RGB(255,255,255));
- x_xmark[im]=r1->pt.x;
- x_ymark[im]=r1->pt.y;
- memcpy( (float * )x_rdesc[im], rdesc, descsize*sizeof(float));
- x_found[im]++;
- SETFLOAT(&x_list[0], im+1);
- SETFLOAT(&x_list[1], x_xmark[im]);
- SETFLOAT(&x_list[2], x_ymark[im]);
- outlet_list( m_dataout, 0, 3, x_list );
- break;
- }
+ if ( odist < dist )
+ {
+ oi=im;
+ x_xmark[oi]=r1->pt.x;
+ x_ymark[oi]=r1->pt.y;
+ memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
+ dist = odist;
+ }
}
}
+
+ if ( oi !=-1 )
+ {
+ sprintf( tindex, "%d", oi );
+ cvPutText( rgb, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
+ x_found[oi] = x_ftolerance;
+ SETFLOAT(&x_list[0], oi);
+ SETFLOAT(&x_list[1], x_xmark[oi]);
+ SETFLOAT(&x_list[2], x_ymark[oi]);
+ outlet_list( m_dataout, 0, 3, x_list );
+ }
}
// draw the delaunay
@@ -330,10 +344,11 @@ void pix_opencv_surf :: processRGBAImage(imageStruct &image)
void pix_opencv_surf :: processRGBImage(imageStruct &image)
{
int i, k;
- int im;
+ int im, oi;
int marked;
int descsize;
char tindex[4];
+ float dist, odist;
if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
{
@@ -443,14 +458,15 @@ void pix_opencv_surf :: processRGBImage(imageStruct &image)
for ( im=0; im<MAX_MARKERS; im++ )
{
- if ( x_xmark[im] != -1.0 )
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
- {
marked = 1;
// post( "pdp_opencv_surf : point already marked" );
break;
- }
}
}
if ( !marked )
@@ -475,6 +491,11 @@ void pix_opencv_surf :: processRGBImage(imageStruct &image)
int neighbour = -1;
double d, dist1 = 1000000, dist2 = 1000000;
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ oi=-1;
+ dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
+
for( i = 0; i < objectKeypoints->total; i++ )
{
CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
@@ -483,24 +504,31 @@ void pix_opencv_surf :: processRGBImage(imageStruct &image)
// manually marked points
// recognized on position
- if ( x_xmark[im] != -1.0 )
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
- {
- sprintf( tindex, "%d", im+1 );
- cvPutText( rgb, tindex, cvPointFrom32f(r1->pt), &font, CV_RGB(255,255,255));
- x_xmark[im]=r1->pt.x;
- x_ymark[im]=r1->pt.y;
- memcpy( (float * )x_rdesc[im], rdesc, descsize*sizeof(float));
- x_found[im]++;
- SETFLOAT(&x_list[0], im+1);
- SETFLOAT(&x_list[1], x_xmark[im]);
- SETFLOAT(&x_list[2], x_ymark[im]);
- outlet_list( m_dataout, 0, 3, x_list );
- break;
- }
+ if ( odist < dist )
+ {
+ oi=im;
+ x_xmark[oi]=r1->pt.x;
+ x_ymark[oi]=r1->pt.y;
+ memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
+ dist = odist;
+ }
}
}
+
+ if ( oi !=-1 )
+ {
+ sprintf( tindex, "%d", oi );
+ cvPutText( rgb, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
+ x_found[oi] = x_ftolerance;
+ SETFLOAT(&x_list[0], oi);
+ SETFLOAT(&x_list[1], x_xmark[oi]);
+ SETFLOAT(&x_list[2], x_ymark[oi]);
+ outlet_list( m_dataout, 0, 3, x_list );
+ }
}
// draw the delaunay
@@ -574,10 +602,11 @@ void pix_opencv_surf :: processYUVImage(imageStruct &image)
void pix_opencv_surf :: processGrayImage(imageStruct &image)
{
int i, k;
- int im;
+ int im, oi;
int marked;
int descsize;
char tindex[4];
+ float dist, odist;
if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
{
@@ -679,16 +708,18 @@ void pix_opencv_surf :: processGrayImage(imageStruct &image)
for ( im=0; im<MAX_MARKERS; im++ )
{
- if ( x_xmark[im] != -1.0 )
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
- {
- marked = 1;
- // post( "pdp_opencv_surf : point already marked" );
- break;
- }
+ marked = 1;
+ // post( "pdp_opencv_surf : point already marked" );
+ break;
}
}
+
if ( !marked )
{
for ( i=0; i<MAX_MARKERS; i++)
@@ -711,6 +742,11 @@ void pix_opencv_surf :: processGrayImage(imageStruct &image)
int neighbour = -1;
double d, dist1 = 1000000, dist2 = 1000000;
+ if ( x_xmark[im] == -1 ) continue; // no points
+
+ oi=-1;
+ dist=(comp_xsize>comp_ysize)?comp_xsize:comp_ysize;
+
for( i = 0; i < objectKeypoints->total; i++ )
{
CvSURFPoint* r1 = (CvSURFPoint*)cvGetSeqElem( objectKeypoints, i );
@@ -719,24 +755,31 @@ void pix_opencv_surf :: processGrayImage(imageStruct &image)
// manually marked points
// recognized on position
- if ( x_xmark[im] != -1.0 )
+ odist=sqrt( pow( r1->pt.x-x_xmark[im], 2 ) + pow( r1->pt.y-x_ymark[im], 2 ) );
+
+ if ( odist <= x_maxmove )
{
- if ( ( abs( r1->pt.x - x_xmark[im] ) <= x_maxmove ) && ( abs( r1->pt.y - x_ymark[im] ) <= x_maxmove ) )
- {
- sprintf( tindex, "%d", im+1 );
- cvPutText( gray, tindex, cvPointFrom32f(r1->pt), &font, CV_RGB(255,255,255));
- x_xmark[im]=r1->pt.x;
- x_ymark[im]=r1->pt.y;
- memcpy( (float * )x_rdesc[im], rdesc, descsize*sizeof(float));
- x_found[im]++;
- SETFLOAT(&x_list[0], im+1);
- SETFLOAT(&x_list[1], x_xmark[im]);
- SETFLOAT(&x_list[2], x_ymark[im]);
- outlet_list( m_dataout, 0, 3, x_list );
- break;
- }
+ if ( odist < dist )
+ {
+ oi=im;
+ x_xmark[oi]=r1->pt.x;
+ x_ymark[oi]=r1->pt.y;
+ memcpy( (float * )x_rdesc[oi], rdesc, descsize*sizeof(float));
+ dist = odist;
+ }
}
}
+
+ if ( oi !=-1 )
+ {
+ sprintf( tindex, "%d", oi );
+ cvPutText( gray, tindex, cvPoint(x_xmark[oi],x_ymark[oi]), &font, CV_RGB(255,255,255));
+ x_found[oi] = x_ftolerance;
+ SETFLOAT(&x_list[0], oi);
+ SETFLOAT(&x_list[1], x_xmark[oi]);
+ SETFLOAT(&x_list[2], x_ymark[oi]);
+ outlet_list( m_dataout, 0, 3, x_list );
+ }
}
// draw the delaunay
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-18 20:09:12 +0000