From ba994f4404b6eadcab4e0ead46ef4d3ffeceb024 Mon Sep 17 00:00:00 2001 From: Antoine Villeret Date: Thu, 10 Jul 2014 14:39:22 +0000 Subject: lots of changes ! 1. switch to a new build system based on automake (because we need to check for some lib on ./configure before make) 2. sort files in different directory 3. add some new features (some of them need OpenCV >= 2.4.5) svn path=/trunk/externals/pix_opencv/; revision=17324 --- src/pix_opencv_camshift.cc | 450 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 450 insertions(+) create mode 100644 src/pix_opencv_camshift.cc (limited to 'src/pix_opencv_camshift.cc') diff --git a/src/pix_opencv_camshift.cc b/src/pix_opencv_camshift.cc new file mode 100644 index 0000000..879a9f2 --- /dev/null +++ b/src/pix_opencv_camshift.cc @@ -0,0 +1,450 @@ + +// +// 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 + +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 ); +} + -- cgit v1.2.1