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Diffstat (limited to 'src/pix_opencv_hough_lines.cc')
| -rw-r--r-- | src/pix_opencv_hough_lines.cc | 600 |
1 files changed, 600 insertions, 0 deletions
diff --git a/src/pix_opencv_hough_lines.cc b/src/pix_opencv_hough_lines.cc new file mode 100644 index 0000000..cf84305 --- /dev/null +++ b/src/pix_opencv_hough_lines.cc @@ -0,0 +1,600 @@ +//////////////////////////////////////////////////////// +// +// 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_hough_lines.h" +#include <stdio.h> + +CPPEXTERN_NEW(pix_opencv_hough_lines) + +///////////////////////////////////////////////////////// +// +// pix_opencv_hough_lines +// +///////////////////////////////////////////////////////// +// Constructor +// +///////////////////////////////////////////////////////// + +pix_opencv_hough_lines :: pix_opencv_hough_lines() +{ + int i; + + comp_xsize=320; + comp_ysize=240; + + m_dataout = outlet_new(this->x_obj, &s_anything); + + x_mode = CV_HOUGH_PROBABILISTIC; + x_threshold = 50; + x_maxlines = 10; + x_minlength = 30.0; + x_gap = 10.0; + x_aresolution = 10.0; + x_dresolution = 30.0; + night_mode = 0; + + cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 1.0, 1.0, 0, 1, 8 ); + + 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); + +} + +///////////////////////////////////////////////////////// +// Destructor +// +///////////////////////////////////////////////////////// +pix_opencv_hough_lines :: ~pix_opencv_hough_lines() +{ + //Destroy cv_images to clean memory + cvReleaseImage(&rgba); + cvReleaseImage(&rgb); + cvReleaseImage(&gray); +} + +///////////////////////////////////////////////////////// +// processImage +// +///////////////////////////////////////////////////////// +void pix_opencv_hough_lines :: processRGBAImage(imageStruct &image) +{ + int i, ulines; + + 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); + + 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); + + } + + memcpy( rgba->imageData, image.data, image.xsize*image.ysize*4 ); + cvCvtColor( rgba, gray, CV_BGRA2GRAY ); + + cvCanny( gray, gray, 50, 200, 3 ); + + if( night_mode ) + cvZero( rgba ); + + x_storage = cvCreateMemStorage(0); + + switch( x_mode ) + { + case CV_HOUGH_STANDARD: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, 0, 0 ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + CvPoint pt1, pt2; + char tindex[10]; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( rgba, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgba, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_PROBABILISTIC: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_minlength, x_gap ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + CvPoint* line = (CvPoint*)cvGetSeqElem(x_lines,i); + char tindex[10]; + cvLine( rgba, line[0], line[1], CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], line[0].x); + SETFLOAT(&x_list[2], line[0].y); + SETFLOAT(&x_list[3], line[1].x); + SETFLOAT(&x_list[4], line[1].y); + outlet_list( m_dataout, 0, 5, x_list ); + line[0].x = (line[0].x+line[1].x)/2; + line[0].y = (line[0].y+line[1].y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgba, tindex, line[0], &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_MULTI_SCALE: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_dresolution, x_aresolution ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i = 0; i < ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + char tindex[10]; + CvPoint pt1, pt2; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( rgba, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgba, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + } + + cvReleaseMemStorage( &x_storage ); + memcpy( image.data, rgba->imageData, image.xsize*image.ysize*4 ); + +} + +void pix_opencv_hough_lines :: processRGBImage(imageStruct &image) +{ + int i, ulines; + + 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); + + 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); + + } + + memcpy( rgb->imageData, image.data, image.xsize*image.ysize*3 ); + cvCvtColor( rgb, gray, CV_BGR2GRAY ); + + cvCanny( gray, gray, 50, 200, 3 ); + + if( night_mode ) + cvZero( rgb ); + + x_storage = cvCreateMemStorage(0); + + switch( x_mode ) + { + case CV_HOUGH_STANDARD: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, 0, 0 ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + CvPoint pt1, pt2; + char tindex[10]; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( rgb, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgb, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_PROBABILISTIC: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_minlength, x_gap ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + CvPoint* line = (CvPoint*)cvGetSeqElem(x_lines,i); + char tindex[10]; + cvLine( rgb, line[0], line[1], CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], line[0].x); + SETFLOAT(&x_list[2], line[0].y); + SETFLOAT(&x_list[3], line[1].x); + SETFLOAT(&x_list[4], line[1].y); + outlet_list( m_dataout, 0, 5, x_list ); + line[0].x = (line[0].x+line[1].x)/2; + line[0].y = (line[0].y+line[1].y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgb, tindex, line[0], &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_MULTI_SCALE: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_dresolution, x_aresolution ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i = 0; i < ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + char tindex[10]; + CvPoint pt1, pt2; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( rgb, pt1, pt2, CV_RGB(255,0,0), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( rgb, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + } + + cvReleaseMemStorage( &x_storage ); + memcpy( image.data, rgb->imageData, image.xsize*image.ysize*3 ); + +} + +void pix_opencv_hough_lines :: processYUVImage(imageStruct &image) +{ + post( "pix_opencv_hough_lines : yuv format not supported" ); +} + +void pix_opencv_hough_lines :: processGrayImage(imageStruct &image) +{ + int i, ulines; + + 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); + + 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); + + } + + memcpy( gray->imageData, image.data, image.xsize*image.ysize ); + cvCanny( gray, gray, 50, 200, 3 ); + + x_storage = cvCreateMemStorage(0); + + switch( x_mode ) + { + case CV_HOUGH_STANDARD: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, 0, 0 ); + + if( night_mode ) + cvZero( gray ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + CvPoint pt1, pt2; + char tindex[10]; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( gray, pt1, pt2, CV_RGB(255,255,255), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( gray, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_PROBABILISTIC: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_minlength, x_gap ); + + if( night_mode ) + cvZero( gray ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i=0; i<ulines; i++ ) + { + CvPoint* line = (CvPoint*)cvGetSeqElem(x_lines,i); + char tindex[10]; + cvLine( gray, line[0], line[1], CV_RGB(255,255,255), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], line[0].x); + SETFLOAT(&x_list[2], line[0].y); + SETFLOAT(&x_list[3], line[1].x); + SETFLOAT(&x_list[4], line[1].y); + outlet_list( m_dataout, 0, 5, x_list ); + line[0].x = (line[0].x+line[1].x)/2; + line[0].y = (line[0].y+line[1].y)/2; + sprintf( tindex, "%d", i ); + cvPutText( gray, tindex, line[0], &font, CV_RGB(255,255,255)); + } + } + break; + + case CV_HOUGH_MULTI_SCALE: + + x_lines = cvHoughLines2( gray, x_storage, x_mode, 1, CV_PI/180, x_threshold, x_dresolution, x_aresolution ); + + if( night_mode ) + cvZero( gray ); + + if ( x_lines ) + { + ulines = ( x_lines->total >= x_maxlines ) ? x_maxlines:x_lines->total; + for( i = 0; i < ulines; i++ ) + { + float* line = (float*)cvGetSeqElem(x_lines,i); + float rho = line[0]; + float theta = line[1]; + char tindex[10]; + CvPoint pt1, pt2; + double a = cos(theta), b = sin(theta); + double x0 = a*rho, y0 = b*rho; + pt1.x = cvRound(x0 + 1000*(-b)); + pt1.y = cvRound(y0 + 1000*(a)); + pt2.x = cvRound(x0 - 1000*(-b)); + pt2.y = cvRound(y0 - 1000*(a)); + cvLine( gray, pt1, pt2, CV_RGB(255,255,255), 3, 8 ); + SETFLOAT(&x_list[0], i); + SETFLOAT(&x_list[1], pt1.x); + SETFLOAT(&x_list[2], pt1.y); + SETFLOAT(&x_list[3], pt2.x); + SETFLOAT(&x_list[4], pt2.y); + outlet_list( m_dataout, 0, 5, x_list ); + pt1.x = (pt1.x+pt2.x)/2; + pt1.y = (pt1.y+pt2.y)/2; + sprintf( tindex, "%d", i ); + cvPutText( gray, tindex, pt1, &font, CV_RGB(255,255,255)); + } + } + break; + } + + cvReleaseMemStorage( &x_storage ); + memcpy( image.data, gray->imageData, image.xsize*image.ysize ); + +} + +///////////////////////////////////////////////////////// +// static member function +// +///////////////////////////////////////////////////////// + +void pix_opencv_hough_lines :: obj_setupCallback(t_class *classPtr) +{ + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatNightModeMessCallback, + gensym("nightmode"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatModeMessCallback, + gensym("mode"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatThresholdMessCallback, + gensym("threshold"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatMinLengthMessCallback, + gensym("minlength"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatGapMessCallback, + gensym("gap"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatAResolutionMessCallback, + gensym("aresolution"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatDResolutionMessCallback, + gensym("dresolution"), A_FLOAT, A_NULL); + class_addmethod(classPtr, (t_method)&pix_opencv_hough_lines::floatMaxLinesMessCallback, + gensym("maxlines"), A_FLOAT, A_NULL); +} + +void pix_opencv_hough_lines :: floatNightModeMessCallback(void *data, t_floatarg nightmode) +{ + GetMyClass(data)->floatNightModeMess((float)nightmode); +} + +void pix_opencv_hough_lines :: floatModeMessCallback(void *data, t_floatarg mode) +{ + GetMyClass(data)->floatModeMess((float)mode); +} + +void pix_opencv_hough_lines :: floatThresholdMessCallback(void *data, t_floatarg threshold) +{ + GetMyClass(data)->floatThresholdMess((float)threshold); +} + +void pix_opencv_hough_lines :: floatMinLengthMessCallback(void *data, t_floatarg minlength) +{ + GetMyClass(data)->floatMinLengthMess((float)minlength); +} + +void pix_opencv_hough_lines :: floatGapMessCallback(void *data, t_floatarg gap) +{ + GetMyClass(data)->floatGapMess((float)gap); +} + +void pix_opencv_hough_lines :: floatAResolutionMessCallback(void *data, t_floatarg aresolution) +{ + GetMyClass(data)->floatAResolutionMess((float)aresolution); +} + +void pix_opencv_hough_lines :: floatDResolutionMessCallback(void *data, t_floatarg dresolution) +{ + GetMyClass(data)->floatDResolutionMess((float)dresolution); +} + +void pix_opencv_hough_lines :: floatMaxLinesMessCallback(void *data, t_floatarg maxlines) +{ + GetMyClass(data)->floatMaxLinesMess((float)maxlines); +} + +void pix_opencv_hough_lines :: floatNightModeMess(float nightmode) +{ + if ((nightmode==0.0)||(nightmode==1.0)) night_mode = (int)nightmode; +} + +void pix_opencv_hough_lines :: floatModeMess(float mode) +{ + if ( mode == CV_HOUGH_STANDARD ) + { + x_mode = CV_HOUGH_STANDARD; + } + if ( mode == CV_HOUGH_PROBABILISTIC ) + { + x_mode = CV_HOUGH_PROBABILISTIC; + } + if ( mode == CV_HOUGH_MULTI_SCALE ) + { + x_mode = CV_HOUGH_MULTI_SCALE; + } +} + +void pix_opencv_hough_lines :: floatThresholdMess(float threshold) +{ + if (threshold>0.0) x_threshold = (int)threshold; +} + +void pix_opencv_hough_lines :: floatMinLengthMess(float minlength) +{ + if (minlength>0.0) x_minlength = (double)minlength; +} + +void pix_opencv_hough_lines :: floatGapMess(float gap) +{ + if (gap>0.0) x_gap = (double)gap; +} + +void pix_opencv_hough_lines :: floatAResolutionMess(float aresolution) +{ + if (aresolution>0.0) x_aresolution = (double)aresolution; +} + +void pix_opencv_hough_lines :: floatDResolutionMess(float dresolution) +{ + if (dresolution>0.0) x_dresolution = (double)dresolution; +} + +void pix_opencv_hough_lines :: floatMaxLinesMess(float maxlines) +{ + if (maxlines>0.0) x_maxlines = (int)maxlines; +} + |