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-rw-r--r--src/pix_opencv_camshift.cc450
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diff --git a/src/pix_opencv_camshift.cc b/src/pix_opencv_camshift.cc
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+
+//
+// GEM - Graphics Environment for Multimedia
+//
+// zmoelnig@iem.kug.ac.at
+//
+// Implementation file
+//
+// Copyright (c) 1997-2000 Mark Danks.
+// Copyright (c) Günther Geiger.
+// Copyright (c) 2001-2002 IOhannes m zmoelnig. forum::für::umläute. IEM
+// Copyright (c) 2002 James Tittle & Chris Clepper
+// For information on usage and redistribution, and for a DISCLAIMER OF ALL
+// WARRANTIES, see the file, "GEM.LICENSE.TERMS" in this distribution.
+//
+/////////////////////////////////////////////////////////
+
+#include "pix_opencv_camshift.h"
+#include <stdio.h>
+
+CPPEXTERN_NEW(pix_opencv_camshift)
+
+/////////////////////////////////////////////////////////
+//
+// pix_opencv_camshift
+//
+/////////////////////////////////////////////////////////
+// Constructor
+//
+/////////////////////////////////////////////////////////
+
+pix_opencv_camshift :: pix_opencv_camshift()
+{
+ int i;
+ int hdims = 16;
+ float hranges_arr[] = {0,180};
+ float* hranges = hranges_arr;
+
+ comp_xsize=320;
+ comp_ysize=240;
+
+ m_dataout = outlet_new(this->x_obj, &s_anything);
+
+ x_track = 0;
+ x_init = 0;
+ x_rwidth = 20;
+ x_rheight = 20;
+ x_backproject = 0;
+ x_vmin = 50;
+ x_vmax = 256;
+ x_smin = 30;
+
+ rgba = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 4);
+ rgb = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ gray = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hsv = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ hue = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ mask = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ backproject = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
+}
+
+/////////////////////////////////////////////////////////
+// Destructor
+//
+/////////////////////////////////////////////////////////
+pix_opencv_camshift :: ~pix_opencv_camshift()
+{
+ // Destroy cv_images
+ cvReleaseImage(&rgba);
+ cvReleaseImage(&rgb);
+ cvReleaseImage(&gray);
+ cvReleaseImage(&hsv);
+ cvReleaseImage(&hue);
+ cvReleaseImage(&mask);
+ cvReleaseImage(&backproject);
+ cvReleaseHist(&hist);
+}
+
+/////////////////////////////////////////////////////////
+// processImage
+//
+/////////////////////////////////////////////////////////
+void pix_opencv_camshift :: processRGBAImage(imageStruct &image)
+{
+ int i, k;
+ int im;
+ int marked;
+ int hdims = 16;
+ float hranges_arr[] = {0,180};
+ float* hranges = hranges_arr;
+
+
+ if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
+ {
+
+ this->comp_xsize=image.xsize;
+ this->comp_ysize=image.ysize;
+
+ cvReleaseImage(&rgba);
+ cvReleaseImage(&rgb);
+ cvReleaseImage(&gray);
+ cvReleaseImage(&hsv);
+ cvReleaseImage(&hue);
+ cvReleaseImage(&mask);
+ cvReleaseImage(&backproject);
+ cvReleaseHist(&hist);
+
+ rgba = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 4);
+ rgb = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ gray = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hsv = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ hue = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ mask = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ backproject = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
+
+ }
+
+ memcpy( rgba->imageData, image.data, image.xsize*image.ysize*4 );
+
+ // Convert to hsv
+ cvCvtColor(rgba, rgb, CV_BGRA2BGR);
+ cvCvtColor(rgb, hsv, CV_BGR2HSV);
+
+ if ( x_track )
+ {
+ cvInRangeS( hsv, cvScalar(0,x_smin,MIN(x_vmin,x_vmax),0), cvScalar(180,256,MAX(x_vmin,x_vmax),0), mask );
+ cvSplit( hsv, hue, 0, 0, 0 );
+
+ if ( x_init )
+ {
+ float max_val = 0.f;
+ x_init = 0;
+ cvSetImageROI( hue, selection );
+ cvSetImageROI( mask, selection );
+ cvCalcHist( &hue, hist, 0, mask );
+ cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );
+ cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
+ cvResetImageROI( hue );
+ cvResetImageROI( mask );
+ trackwindow = selection;
+ }
+
+ cvCalcBackProject( (IplImage**)&(hue), (CvArr*)backproject, (const CvHistogram*)hist );
+ cvAnd( backproject, mask, backproject, 0 );
+ cvCamShift( backproject, trackwindow,
+ cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
+ &trackcomp, &trackbox );
+ trackwindow = trackcomp.rect;
+
+ if( x_backproject )
+ cvCvtColor( backproject, rgb, CV_GRAY2BGR );
+ if( !rgb->origin )
+ trackbox.angle = -trackbox.angle;
+ cvEllipseBox( rgb, trackbox, CV_RGB(255,0,0), 3, CV_AA, 0 );
+ SETFLOAT(&x_list[0], trackbox.center.x);
+ SETFLOAT(&x_list[1], trackbox.center.y);
+ SETFLOAT(&x_list[2], trackbox.size.width);
+ SETFLOAT(&x_list[3], trackbox.size.height);
+ SETFLOAT(&x_list[4], trackbox.angle);
+ outlet_list( m_dataout, 0, 5, x_list );
+ }
+
+ cvCvtColor(rgb, rgba, CV_BGR2BGRA);
+ memcpy( image.data, rgba->imageData, image.xsize*image.ysize*4 );
+}
+
+void pix_opencv_camshift :: processRGBImage(imageStruct &image)
+{
+ int i, k;
+ int im;
+ int marked;
+ int hdims = 16;
+ float hranges_arr[] = {0,180};
+ float* hranges = hranges_arr;
+
+
+ if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
+ {
+
+ this->comp_xsize=image.xsize;
+ this->comp_ysize=image.ysize;
+
+ cvReleaseImage(&rgba);
+ cvReleaseImage(&rgb);
+ cvReleaseImage(&gray);
+ cvReleaseImage(&hsv);
+ cvReleaseImage(&hue);
+ cvReleaseImage(&mask);
+ cvReleaseImage(&backproject);
+ cvReleaseHist(&hist);
+
+ rgba = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 4);
+ rgb = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ gray = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hsv = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ hue = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ mask = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ backproject = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
+
+ }
+
+ memcpy( rgb->imageData, image.data, image.xsize*image.ysize*3 );
+
+ // Convert to hsv
+ cvCvtColor(rgb, hsv, CV_BGR2HSV);
+
+ if ( x_track )
+ {
+ cvInRangeS( hsv, cvScalar(0,x_smin,MIN(x_vmin,x_vmax),0), cvScalar(180,256,MAX(x_vmin,x_vmax),0), mask );
+ cvSplit( hsv, hue, 0, 0, 0 );
+
+ if ( x_init )
+ {
+ float max_val = 0.f;
+ x_init = 0;
+ cvSetImageROI( hue, selection );
+ cvSetImageROI( mask, selection );
+ cvCalcHist( &hue, hist, 0, mask );
+ cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );
+ cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
+ cvResetImageROI( hue );
+ cvResetImageROI( mask );
+ trackwindow = selection;
+ }
+
+ cvCalcBackProject( (IplImage**)&(hue), (CvArr*)backproject, (const CvHistogram*)hist );
+ cvAnd( backproject, mask, backproject, 0 );
+ cvCamShift( backproject, trackwindow,
+ cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
+ &trackcomp, &trackbox );
+ trackwindow = trackcomp.rect;
+
+ if( x_backproject )
+ cvCvtColor( backproject, rgb, CV_GRAY2BGR );
+ if( !rgb->origin )
+ trackbox.angle = -trackbox.angle;
+ cvEllipseBox( rgb, trackbox, CV_RGB(255,0,0), 3, CV_AA, 0 );
+ SETFLOAT(&x_list[0], trackbox.center.x);
+ SETFLOAT(&x_list[1], trackbox.center.y);
+ SETFLOAT(&x_list[2], trackbox.size.width);
+ SETFLOAT(&x_list[3], trackbox.size.height);
+ SETFLOAT(&x_list[4], trackbox.angle);
+ outlet_list( m_dataout, 0, 5, x_list );
+ }
+
+ memcpy( image.data, rgb->imageData, image.xsize*image.ysize*3 );
+}
+
+void pix_opencv_camshift :: processYUVImage(imageStruct &image)
+{
+ post( "pix_opencv_camshift : yuv format not supported" );
+}
+
+void pix_opencv_camshift :: processGrayImage(imageStruct &image)
+{
+ int i, k;
+ int im;
+ int marked;
+ int hdims = 16;
+ float hranges_arr[] = {0,180};
+ float* hranges = hranges_arr;
+
+
+ if ((this->comp_xsize!=image.xsize)&&(this->comp_ysize!=image.ysize))
+ {
+
+ this->comp_xsize=image.xsize;
+ this->comp_ysize=image.ysize;
+
+ cvReleaseImage(&rgba);
+ cvReleaseImage(&rgb);
+ cvReleaseImage(&gray);
+ cvReleaseImage(&hsv);
+ cvReleaseImage(&hue);
+ cvReleaseImage(&mask);
+ cvReleaseImage(&backproject);
+ cvReleaseHist(&hist);
+
+ rgba = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 4);
+ rgb = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ gray = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hsv = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 3);
+ hue = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ mask = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ backproject = cvCreateImage(cvSize(comp_xsize,comp_ysize), IPL_DEPTH_8U, 1);
+ hist = cvCreateHist( 1, &hdims, CV_HIST_ARRAY, &hranges, 1 );
+
+ }
+
+ memcpy( gray->imageData, image.data, image.xsize*image.ysize );
+
+ // Convert to hsv
+ cvCvtColor(gray, rgb, CV_GRAY2BGR);
+ cvCvtColor(rgb, hsv, CV_BGR2HSV);
+
+ if ( x_track )
+ {
+ cvInRangeS( hsv, cvScalar(0,x_smin,MIN(x_vmin,x_vmax),0), cvScalar(180,256,MAX(x_vmin,x_vmax),0), mask );
+ cvSplit( hsv, hue, 0, 0, 0 );
+
+ if ( x_init )
+ {
+ float max_val = 0.f;
+ x_init = 0;
+ cvSetImageROI( hue, selection );
+ cvSetImageROI( mask, selection );
+ cvCalcHist( &hue, hist, 0, mask );
+ cvGetMinMaxHistValue( hist, 0, &max_val, 0, 0 );
+ cvConvertScale( hist->bins, hist->bins, max_val ? 255. / max_val : 0., 0 );
+ cvResetImageROI( hue );
+ cvResetImageROI( mask );
+ trackwindow = selection;
+ }
+
+ cvCalcBackProject( (IplImage**)&(hue), (CvArr*)backproject, (const CvHistogram*)hist );
+ cvAnd( backproject, mask, backproject, 0 );
+ cvCamShift( backproject, trackwindow,
+ cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ),
+ &trackcomp, &trackbox );
+ trackwindow = trackcomp.rect;
+
+ if( x_backproject )
+ memcpy( gray->imageData, backproject->imageData, image.xsize*image.ysize );
+ if( !rgb->origin )
+ trackbox.angle = -trackbox.angle;
+ cvEllipseBox( gray, trackbox, CV_RGB(255,0,0), 3, CV_AA, 0 );
+ SETFLOAT(&x_list[0], trackbox.center.x);
+ SETFLOAT(&x_list[1], trackbox.center.y);
+ SETFLOAT(&x_list[2], trackbox.size.width);
+ SETFLOAT(&x_list[3], trackbox.size.height);
+ SETFLOAT(&x_list[4], trackbox.angle);
+ outlet_list( m_dataout, 0, 5, x_list );
+ }
+
+ memcpy( image.data, gray->imageData, image.xsize*image.ysize );
+}
+
+/////////////////////////////////////////////////////////
+// static member function
+//
+/////////////////////////////////////////////////////////
+
+void pix_opencv_camshift :: obj_setupCallback(t_class *classPtr)
+{
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::backProjectMessCallback,
+ gensym("backproject"), A_FLOAT, A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::vMinMessCallback,
+ gensym("vmin"), A_FLOAT, A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::vMaxMessCallback,
+ gensym("vmax"), A_FLOAT, A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::sMinMessCallback,
+ gensym("smin"), A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::trackMessCallback,
+ gensym("track"), A_FLOAT, A_FLOAT, A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::rWidthMessCallback,
+ gensym("rwidth"), A_FLOAT, A_NULL);
+ class_addmethod(classPtr, (t_method)&pix_opencv_camshift::rHeightMessCallback,
+ gensym("rheight"), A_NULL);
+}
+
+void pix_opencv_camshift :: backProjectMessCallback(void *data, t_floatarg backproject)
+{
+ GetMyClass(data)->backProjectMess((float)backproject);
+}
+
+void pix_opencv_camshift :: vMinMessCallback(void *data, t_floatarg vmin)
+{
+ GetMyClass(data)->vMinMess((float)vmin);
+}
+
+void pix_opencv_camshift :: vMaxMessCallback(void *data, t_floatarg vmax)
+{
+ GetMyClass(data)->vMaxMess((float)vmax);
+}
+
+void pix_opencv_camshift :: sMinMessCallback(void *data, t_floatarg smin)
+{
+ GetMyClass(data)->sMinMess((float)smin);
+}
+
+void pix_opencv_camshift :: trackMessCallback(void *data, t_floatarg px, t_floatarg py)
+{
+ GetMyClass(data)->trackMess((float)px, (float)py);
+}
+
+void pix_opencv_camshift :: rWidthMessCallback(void *data, t_floatarg rwidth)
+{
+ GetMyClass(data)->rWidthMess((float)rwidth);
+}
+
+void pix_opencv_camshift :: rHeightMessCallback(void *data, t_floatarg rheight)
+{
+ GetMyClass(data)->rHeightMess((float)rheight);
+}
+
+void pix_opencv_camshift :: backProjectMess(float backproject)
+{
+ if ( ( (int)backproject==0 ) || ( (int)backproject==1 ) ) x_backproject = (int)backproject;
+}
+
+void pix_opencv_camshift :: vMinMess(float vmin)
+{
+ if ( ( (int)vmin>=0 ) || ( (int)vmin<256 ) ) x_vmin = (int)vmin;
+}
+
+void pix_opencv_camshift :: vMaxMess(float vmax)
+{
+ if ( ( (int)vmax>=0 ) || ( (int)vmax<256 ) ) x_vmax = (int)vmax;
+}
+
+void pix_opencv_camshift :: sMinMess(float smin)
+{
+ if ( ( (int)smin>=0 ) || ( (int)smin<256 ) ) x_smin = (int)smin;
+}
+
+void pix_opencv_camshift :: trackMess(float px, float py)
+{
+ int rx, ry, w, h;
+
+ if ( ( px<0.0 ) || ( px>comp_xsize ) || ( py<0.0 ) || ( py>comp_ysize ) ) return;
+
+ //py = comp_ysize - py;
+ origin = cvPoint((int)px,(int)py);
+ rx = ( (int)px-(x_rwidth/2) < 0 )? 0:(int)px-(x_rwidth/2);
+ ry = ( (int)py-(x_rheight/2) < 0 )? 0:(int)py-(x_rheight/2);
+ w = (rx+x_rwidth>comp_xsize ) ? ( comp_xsize - rx ):x_rwidth;
+ h = (ry+x_rheight>comp_ysize ) ? ( comp_ysize - ry ):x_rheight;
+ selection = cvRect(rx,ry,w,h);
+ post( "pix_opencv_camshift : track point (%f,%f) region (%d %d %d %d)", px, py, rx, ry, w, h );
+ x_track = 1;
+ x_init = 1;
+}
+
+void pix_opencv_camshift :: rWidthMess(float rwidth)
+{
+ if ( (int)rwidth>=0 ) x_rwidth = (int)rwidth;
+ // refresh selection zone
+ trackMess( (float)origin.x, (float)origin.y );
+}
+
+void pix_opencv_camshift :: rHeightMess(float rheight)
+{
+ if ( (int)rheight>=0 ) x_rheight = (int)rheight;
+ // refresh selection zone
+ trackMess( (float)origin.x, (float)origin.y );
+}
+
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