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Diffstat (limited to 'src/pix_opencv_findchessboardcorners.cc')
| -rw-r--r-- | src/pix_opencv_findchessboardcorners.cc | 220 |
1 files changed, 220 insertions, 0 deletions
diff --git a/src/pix_opencv_findchessboardcorners.cc b/src/pix_opencv_findchessboardcorners.cc new file mode 100644 index 0000000..42fcd61 --- /dev/null +++ b/src/pix_opencv_findchessboardcorners.cc @@ -0,0 +1,220 @@ +//////////////////////////////////////////////////////// +// +// 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_findchessboardcorners.h" +#include <stdio.h> + +CPPEXTERN_NEW(pix_opencv_findchessboardcorners) + +///////////////////////////////////////////////////////// +// +// pix_opencv_findchessboardcorners +// by Antoine Villeret +// +///////////////////////////////////////////////////////// +// Constructor +// +///////////////////////////////////////////////////////// +pix_opencv_findchessboardcorners :: pix_opencv_findchessboardcorners() +{ + //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("minarea")); + //inlet_new(this->x_obj, &this->x_obj->ob_pd, gensym("float"), gensym("maxarea")); + m_dataout = outlet_new(this->x_obj, 0); + //m_countout = outlet_new(this->x_obj, 0); + comp_xsize = 320; + comp_ysize = 240; + gray = NULL; + tmp_color = NULL; + tmp_gray = NULL; + rgb = NULL; + + pattern_size = cvSize(6,7); + corners = new CvPoint2D32f[pattern_size.width * pattern_size.height]; + cornerCount = 0; + win = cvSize(11, 11); + zero_zone = cvSize(-1,-1); + flags = CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FILTER_QUADS; + criteria = cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER, 30, 0.1); + coord_list = new t_atom[pattern_size.width * pattern_size.height * 2]; // all coordinates are packed in one list [x0 y0 x1 y1 .. xn yn( + +} + +///////////////////////////////////////////////////////// +// Destructor +// +///////////////////////////////////////////////////////// +pix_opencv_findchessboardcorners :: ~pix_opencv_findchessboardcorners() +{ + //Destroy cv_images to clean memory + if (gray) cvReleaseImage(&gray); + if (rgb) cvReleaseImage(&rgb); + if (tmp_color) cvReleaseImage(&tmp_color); + if (tmp_gray) cvReleaseImage(&tmp_gray); +} + +///////////////////////////////////////////////////////// +// processImage +// +///////////////////////////////////////////////////////// +void pix_opencv_findchessboardcorners :: processRGBAImage(imageStruct &image) +{ + if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!rgb)) + { + + this->comp_xsize = image.xsize; + this->comp_ysize = image.ysize; + + //Destroy cv_images to clean memory + if(gray) cvReleaseImage(&gray); + if(rgb) cvReleaseImage(&rgb); + if(tmp_color) cvReleaseImage(&tmp_color); + + // Create images with new sizes + rgb = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4); + tmp_gray = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1); + } + + // no need to copy a lot of memory, just point to it... + rgb->imageData = (char*) image.data; + cvCvtColor( rgb, tmp_gray, CV_RGBA2GRAY); + + //~ printf("find corner...*/\n"); + int found = cvFindChessboardCorners( tmp_gray, pattern_size, corners, &cornerCount, flags); + //~ printf(" found : %d\n",found); + + + if ( found ) { + //~ printf("find corner sub pix...\n"); + cvFindCornerSubPix( tmp_gray, corners, cornerCount, win, zero_zone, criteria); + } + + // Draw corners on the image + //cvCvtColor( gray, tmp_color, CV_GRAY2RGBA); + cvDrawChessboardCorners( rgb, pattern_size, corners, cornerCount, found); + //cvCvtColor( tmp_color, gray, CV_RGBA2GRAY); + + // send out corners screen coordinates if all corners have been found + if (found) { + int i; + CvPoint2D32f *pt; + pt = (CvPoint2D32f *) corners; + for ( i=0; i<pattern_size.width * pattern_size.height ; i++ ) + { + SETFLOAT(&coord_list[i*2], pt->x); + SETFLOAT(&coord_list[i*2+1], pt->y); + pt++; + } + outlet_list( m_dataout, 0, pattern_size.width * pattern_size.height*2, coord_list ); + } +} + +void pix_opencv_findchessboardcorners :: processRGBImage(imageStruct &image) +{ + // TODO + error("cant't support RGB image for now"); +} + +void pix_opencv_findchessboardcorners :: processYUVImage(imageStruct &image) +{ + // TODO + error( "pix_opencv_findchessboardcorners : yuv format not supported" ); +} + +void pix_opencv_findchessboardcorners :: processGrayImage(imageStruct &image) +{ + if ((this->comp_xsize!=image.xsize)||(this->comp_ysize!=image.ysize)||(!gray)) + { + + this->comp_xsize = image.xsize; + this->comp_ysize = image.ysize; + + //Destroy cv_images to clean memory + if(gray) cvReleaseImage(&gray); + if(rgb) cvReleaseImage(&rgb); + if(tmp_color) cvReleaseImage(&tmp_color); + if(tmp_gray) cvReleaseImage(&tmp_gray); + + // Create images with new sizes + gray = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 1); + tmp_color = cvCreateImage(cvSize(image.xsize,image.ysize), IPL_DEPTH_8U, 4); + } + + // no need to copy a lot of memory, just point to it... + gray->imageData = (char*) image.data; + //~ printf("find corner...*/\n"); + int found = cvFindChessboardCorners( gray, pattern_size, corners, &cornerCount, flags); + //~ printf(" found : %d\n",found); + + + if ( found ) { + //~ printf("find corner sub pix...\n"); + cvFindCornerSubPix( gray, corners, cornerCount, win, zero_zone, criteria); + } + + // Draw corners on the image + cvCvtColor( gray, tmp_color, CV_GRAY2RGBA); + cvDrawChessboardCorners( tmp_color, pattern_size, corners, cornerCount, found); + cvCvtColor( tmp_color, gray, CV_RGBA2GRAY); + + // send out corners screen coordinates if all corners have been found + if (found) { + int i; + CvPoint2D32f *pt; + pt = (CvPoint2D32f *) corners; + for ( i=0; i<pattern_size.width * pattern_size.height ; i++ ) + { + SETFLOAT(&coord_list[i*2], pt->x); + SETFLOAT(&coord_list[i*2+1], pt->y); + pt++; + } + outlet_list( m_dataout, 0, pattern_size.width * pattern_size.height*2, coord_list ); + } +} + +///////////////////////////////////////////////////////// +// floatThreshMess +// +///////////////////////////////////////////////////////// +void pix_opencv_findchessboardcorners :: patternSizeMess (int xsize, int ysize) +{ + if ( xsize < 3 || ysize < 3 ) { + error("patternSize should be at least 3x3"); + return; + } + pattern_size=cvSize(xsize,ysize); + // update corners array & output list size + delete coord_list; + coord_list = new t_atom[pattern_size.width * pattern_size.height * 2]; + delete corners; + corners = new CvPoint2D32f[pattern_size.width * pattern_size.height]; +} + +///////////////////////////////////////////////////////// +// static member function +// +///////////////////////////////////////////////////////// +void pix_opencv_findchessboardcorners :: obj_setupCallback(t_class *classPtr) +{ + // TODO add support for message : win, zero_zone, flags and criteria + class_addmethod(classPtr, (t_method)&pix_opencv_findchessboardcorners::patternSizeMessCallback, + gensym("patternSize"), A_FLOAT, A_FLOAT, A_NULL); +} + +void pix_opencv_findchessboardcorners :: patternSizeMessCallback(void *data, t_floatarg xsize, t_floatarg ysize) +{ + GetMyClass(data)->patternSizeMess((int)xsize, (int)ysize); +} |