path: root/pix_opencv_contours.cc

////////////////////////////////////////////////////////
//
// 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.
//
/////////////////////////////////////////////////////////
// based on code written by Lluis Gomez i Bigorda ( lluisgomez _at_ hangar _dot_ org ) (pix_opencv)
// pix_opencv_contours extract and simplify contours of incomming image
// by Antoine Villeret - 2012

#include "pix_opencv_contours.h"
#include <stdio.h>
#include <RTE/MessageCallbacks.h>


CPPEXTERN_NEW(pix_opencv_contours)

/////////////////////////////////////////////////////////
//
// pix_opencv_contours
//
/////////////////////////////////////////////////////////
// Constructor
//
/////////////////////////////////////////////////////////
pix_opencv_contours :: pix_opencv_contours() : 	m_area_threshold(30), \
												m_epsilon(2), \
												m_enable_contours(1), \
												m_enable_hulls(1), \
												m_enable_defects(1), \
												m_hierarchy_level(-1), \
												m_taboutput(0), \
												m_x_arrayname(NULL), \
												m_y_arrayname(NULL), \
												m_z_arrayname(NULL)
{ 
	m_dataout_middle = outlet_new(this->x_obj, 0);
	m_dataout_right = outlet_new(this->x_obj, 0);

	//~ post("build on %s at %s", __DATE__, __TIME__);
}

/////////////////////////////////////////////////////////
// Destructor
//
/////////////////////////////////////////////////////////
pix_opencv_contours :: ~pix_opencv_contours()
{ 
}

/////////////////////////////////////////////////////////
// processImage
//
/////////////////////////////////////////////////////////
void pix_opencv_contours :: processRGBAImage(imageStruct &image)
{ 
	error( "pix_opencv_contours : rgba format not supported" );
}

void pix_opencv_contours :: processRGBImage(imageStruct &image) {
	error( "pix_opencv_contours : rgb format not supported");
}

void pix_opencv_contours :: processYUVImage(imageStruct &image) {
	error( "pix_opencv_contours : yuv format not supported" );
}
    	
void pix_opencv_contours :: processGrayImage(imageStruct &image)
{ 
	if ( image.xsize < 0 || image.ysize < 0 ) return;

	cv::Mat imgMat2( image.ysize, image.xsize, CV_8UC1, image.data, image.csize*image.xsize); // just transform imageStruct to IplImage without copying data
	
	cv::Mat imgMat = imgMat2.clone(); // copy data because findContours need it...

	m_contours.clear();
	m_convexhulls.clear();
	
	/*****************/
	/* Find Contours */
	/*****************/

	std::vector<std::vector<cv::Point> > contours;
	std::vector<cv::Vec4i> hierarchy;

	cv::findContours(imgMat, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE);
	
	/*
	std::cout << "hierarchy : \n" << std::endl;
	std::cout << "id\tnext\tprev\tchild\tparent" << std::endl;
	for ( size_t i = 0; i < contours.size(); i++ )
	{
		std::cout << i << "\t" << hierarchy[i][0] << "\t" << hierarchy[i][1] << "\t" << hierarchy[i][2] << "\t" << hierarchy[i][3] << std::endl;
	}
	*/
	
	if ( m_hierarchy_level != -1 )
	{
		int i=0;
		int hierarchy_level=0;
		
		while ( i < (int) contours.size() && i!=-1 && hierarchy_level != -1 ) 
		{
			if ( cv::contourArea(contours[i], false) > m_area_threshold && hierarchy_level == m_hierarchy_level )
			{
				std::vector<cv::Point> one_contour;
				cv::approxPolyDP(contours[i], one_contour, m_epsilon, true);
				m_contours.push_back(one_contour); // push contour if it's big enough
			}
			if ( hierarchy_level < m_hierarchy_level && hierarchy[i][2] != -1 ){ // si on n'a pas atteint le niveau choisi et qu'il y a un enfant on le prend
				hierarchy_level++;
				int j = i;
				i=hierarchy[j][2]; // get the first child
			} else if ( hierarchy[i][0] != -1 ) {
				i=hierarchy[i][0]; // get the next contour at this hierarchy level if it exists
			} else {
				while ( hierarchy_level != -1 )
				{
					hierarchy_level--;
					i=hierarchy[i][3];
					if ( i < 0 ) break; // pas de parent...
					if ( hierarchy[i][0] != -1 ) {
						i=hierarchy[i][0]; // next du parent
						break;
					}
				}

			}
		}
	} else {	
		for ( size_t i = 0; i < contours.size(); i++ )
		{
			if ( cv::contourArea(contours[i], false) > m_area_threshold ){
				std::vector<cv::Point> one_contour;
				cv::approxPolyDP(contours[i], one_contour, m_epsilon, true);
				m_contours.push_back(one_contour);
			}
		}
	}
	
	if ( m_enable_contours )
	{		
			t_atom*info;
			info = new t_atom[(int) m_contours.size()*20+2];
			// info : 20x(contour_nb) matrix
			// info for each contour : area, rotrect corner (8 float), rotrect center, rotrect size, rotation angle, number of segments, length of contour, other are reserved for future use
			int count(0);
			SETFLOAT(info+1, 20.);
			int info_offset(2);
			
			for( size_t i = 0 ; i < m_contours.size(); i++ )
			{
				if (!m_contours[i].empty() && m_contours[i].size() > 2) {
					SETFLOAT(info+info_offset, (float) cv::contourArea(m_contours[i]));
					
					cv::RotatedRect rot_rect = cv::minAreaRect(m_contours[i]);
					cv::Point2f corners[4];
					rot_rect.points(corners);
					double length = cv::arcLength(m_contours[i],true);
					for (int j=0;j<4;j++) {
						SETFLOAT(info+info_offset+j*2+1, corners[j].x/image.xsize);
						SETFLOAT(info+info_offset+j*2+2, corners[j].y/image.ysize);
					}

					SETFLOAT(info+info_offset+9, rot_rect.center.x/image.xsize);
					SETFLOAT(info+info_offset+10, rot_rect.center.y/image.ysize);
					SETFLOAT(info+info_offset+11, rot_rect.size.width/image.xsize);
					SETFLOAT(info+info_offset+12, rot_rect.size.height/image.xsize);
					SETFLOAT(info+info_offset+13, rot_rect.angle);
					SETFLOAT(info+info_offset+14, m_contours[i].size()); // number of points in segment
					SETFLOAT(info+info_offset+15, (float) length);
					SETFLOAT(info+info_offset+16, 0);
					SETFLOAT(info+info_offset+17, 0);
					SETFLOAT(info+info_offset+18, 0);
					SETFLOAT(info+info_offset+19, 0);
					
					info_offset+=20;
					count++;
				}
			}
				
				SETFLOAT(info, (float) count);
				if (count) outlet_anything(m_dataout_right, gensym("info"), count*20+2, info);
				else outlet_float(m_dataout_right, 0);
			
			if ( !m_taboutput ){
				for( size_t i = 0 ; i < m_contours.size() ; i++ )
				{
					if (!m_contours[i].empty() && m_contours[i].size() > 2) {
						int size = 2+m_contours[i].size()*2;
						t_atom*ap = new t_atom[size];
						SETFLOAT(ap, static_cast<t_float>(m_contours[i].size()));
						SETFLOAT(ap+1, 2.0);
						
						int offset(2);
						
						for ( size_t j = 0 ; j < m_contours[i].size() ; j++){
							cv::Point pt = m_contours[i][j];
							SETFLOAT(ap+offset,(float) pt.x/image.xsize);
							SETFLOAT(ap+offset+1,(float) pt.y/image.ysize);
							offset+=2;
						}
						outlet_anything(m_dataout_middle, gensym("contour"), size, ap);
						if(ap)delete[]ap;ap=NULL;	
						
					}
				}
			
			
			if (info) delete info;
			info = NULL;
			
		} else {
		
			//~ put contours in 3 tables.
			//~ contours are separated by a -1 value
			
			if ( m_x_arrayname == NULL || m_y_arrayname == NULL || m_z_arrayname == NULL){
				error("please settab before trying to write into...");
				return;
			}
						
			int size(0), vecxsize(0), vecysize(0), veczsize(0);
			t_garray  *ax, *ay, *az;
			t_word *vecx, *vecy, *vecz;
			
			//~  check if array exist
			if (!(ax = (t_garray *)pd_findbyclass(m_x_arrayname, garray_class))){
				error("%s: no such array", m_x_arrayname->s_name);
				return;
			}
			if (!(ay = (t_garray *)pd_findbyclass(m_y_arrayname, garray_class))){
				error("%s: no such array", m_y_arrayname->s_name);
				return;
			}		
			if (!(az = (t_garray *)pd_findbyclass(m_z_arrayname, garray_class))){
				error("%s: no such array", m_z_arrayname->s_name);
				return;
			}
			
			//~ check array and resize if needed
			for( size_t i = 0 ; i < m_contours.size(); i++ ){
				size+=m_contours[i].size()+3;
			}
			
			if (!garray_getfloatwords(ax, &vecxsize, &vecx)){
				error("%s: bad template for tabwrite", m_x_arrayname->s_name);
				return;
			} else if ( vecxsize != size ){
				garray_resize_long(ax,size);
				if (!garray_getfloatwords(ax, &vecxsize, &vecx)){
					error("%s: can't resize correctly", m_x_arrayname->s_name);
				return;
				} 
			}
			
			if (!garray_getfloatwords(ay, &vecysize, &vecy)){
				error("%s: bad template for tabwrite", m_y_arrayname->s_name);
				return;
			} else if ( vecysize != size ){
				garray_resize_long(ay,size);
				if (!garray_getfloatwords(ay, &vecysize, &vecy)){
					error("%s: can't resize correctly", m_y_arrayname->s_name);
				return;
				} 
			}
			
			if (!garray_getfloatwords(az, &veczsize, &vecz)){
				error("%s: bad template for tabwrite", m_z_arrayname->s_name);
				return;
			} else if ( veczsize != size ){
				garray_resize_long(az,size);
				if (!garray_getfloatwords(az, &veczsize, &vecz)){
					error("%s: can't resize correctly", m_z_arrayname->s_name);
				return;
				} 
			}
			
			int n=0;			
			
			for( size_t i = 0 ; i < m_contours.size(); i++ )
			{
				if (n >= vecxsize || n>=vecysize || n>=veczsize)
				{
					error("array are not wide engouth");
					return;
				}
				
				unsigned int j;
				cv::Point pt;
				pt = m_contours[i][0];
				//~ start with blank point
				vecx[n].w_float = (float) pt.x/image.xsize;
				vecy[n].w_float = (float) pt.y/image.ysize;
				vecz[n].w_float = 0.;
				n++;

				for ( j = 0 ; j < m_contours[i].size() ; j++) {
				
					pt = m_contours[i][j];
					
					vecx[n].w_float = (float) pt.x/image.xsize;
					vecy[n].w_float = (float) pt.y/image.ysize;
					vecz[n].w_float = 1.;
					n++;
				}
				// close contour
				pt = m_contours[i][0];
				vecx[n].w_float = (float) pt.x/image.xsize;
				vecy[n].w_float = (float) pt.y/image.ysize;
				vecz[n].w_float = 1.;
				n++;
				// add a blank point to draw invisible segment
				vecz[n++].w_float = 0.;


			}
			//~ comment the redraw fnt if not needed
			garray_redraw(ax);
			garray_redraw(ay);
			garray_redraw(az);
		}
	}
	
	
	//~ cv::drawContours(imgMat2, m_contours, -1, cv::Scalar(128,255,255), 3);
	
	/**********************/
	/* Compute Convexhull */
	/**********************/
	if ( m_enable_defects || m_enable_hulls )
	{
		for ( size_t i = 0; i < m_contours.size(); i++ )
		{
			std::vector<int> convexhull;
			cv::convexHull(m_contours[i], convexhull);
			m_convexhulls.push_back(convexhull);
		}
	}
	
	if ( m_enable_hulls )
	{	
		for ( size_t i = 0 ; i < m_convexhulls.size() ; i++ )
		{
			int list_size=(int) m_convexhulls[i].size()*2+2;
			
			t_atom* data = new t_atom[list_size];
			
			SETFLOAT(data,m_convexhulls[i].size()); // nb of points for current convexhull
			SETFLOAT(data+1, 2); // each point is represented by 2 values
			
			t_atom* apt=data+2;

			for ( size_t j = 0 ; j < m_convexhulls[i].size() ; j++){
				int k = m_convexhulls[i][j];
				cv::Point pt = m_contours[i][k];
				SETFLOAT(apt,   (float) pt.x/image.xsize);
				SETFLOAT(apt+1, (float) pt.y/image.ysize);
				apt+=2;
			}
			outlet_anything(m_dataout_middle, gensym("convexhull"), list_size, data);
			
			if (data) delete data;
			data = NULL;
		}
	}
	
	/*****************************/
	/* Compute convexity defects */
	/*****************************/
	if ( m_enable_defects )
	{
		for ( size_t i = 0 ; i < m_contours.size() ; i++ )
		{
			std::vector<cv::Vec4i> defects(m_convexhulls[i].size());
			
			cv::Ptr<CvMemStorage> storage = cvCreateMemStorage();
			cv::InputArray _points = m_contours[i];
			cv::InputArray _hull = m_convexhulls[i];
			
			cv::Mat points =  _points.getMat();
			cv::Mat hull = _hull.getMat();
			
			CvMat c_points = points, c_hull = hull;
			
			CvSeq* seq = cvConvexityDefects(&c_points, &c_hull, storage);
			
			double norm = sqrtf( image.xsize*image.ysize );
		
			if ( !seq ) {
					error("seq undefined...");
					continue;
			}
			
			int list_size=(int) seq->total*7+2; 
			
			if (seq->total > 0) 
			{
				t_atom* data = new t_atom[list_size];
				
				SETFLOAT(data, seq->total); // number of defect for current contour
				SETFLOAT(data+1, 7); // a defect is represented by 7 values : start point (x,y), end point (x,y), farthest point (x,y) and defect depth
				
			    cv::SeqIterator<CvConvexityDefect> it = cv::Seq<CvConvexityDefect>(seq).begin(); // TODO : crash sometimes but don't know why yet...
				t_atom* apt = data+2;
				
				for ( int j = 0 ; j < seq->total ; j++, ++it )
				{
					CvConvexityDefect& defect = *it;
					SETFLOAT(apt, (float) defect.start->x/image.xsize);
					SETFLOAT(apt+1, (float) defect.start->y/image.ysize);
					SETFLOAT(apt+2, (float) defect.end->x/image.xsize);
					SETFLOAT(apt+3, (float) defect.end->y/image.ysize);
					SETFLOAT(apt+4, (float) defect.depth_point->x/image.xsize);
					SETFLOAT(apt+5, (float) defect.depth_point->y/image.ysize);
					SETFLOAT(apt+6, (float) defect.depth/norm);
					apt+=7;
				}
				
				outlet_anything(m_dataout_middle, gensym("convexitydefects"), list_size, data);
				
				if (data) delete data;
				data = NULL;
			}
		}
	}
}

/////////////////////////////////////////////////////////
// static member function
//
/////////////////////////////////////////////////////////
void pix_opencv_contours :: obj_setupCallback(t_class *classPtr)
{
	CPPEXTERN_MSG1(classPtr, "epsilon",	epsilonMess, 		double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "area",	areaMess, 			double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "contours",	contoursMess, 			double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "convexhulls",	convexhullsMess, 			double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "convexitydefects",	convexitydefectsMess, 			double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "hierarchy_level",	hierarchyMess, 			double);		    		  	  
	CPPEXTERN_MSG1(classPtr, "taboutput",	taboutputMess, 			float);		    		  	  
	CPPEXTERN_MSG3(classPtr, "settab",	tableMess, t_symbol*, t_symbol*, t_symbol*);		    		  	  
}

/////////////////////////////////////////////////////////
// messages handling
//
/////////////////////////////////////////////////////////
void pix_opencv_contours :: epsilonMess(double arg)
{
	m_epsilon = arg > 0 ? arg : 3.;
	t_atom data_out;
	SETFLOAT(&data_out, (float) m_epsilon);
	outlet_anything( m_dataout_right, gensym("epsilon"), 1, &data_out);
}
void pix_opencv_contours :: areaMess(double arg)
{
	m_area_threshold = arg > 0 ? arg : 30.;
	t_atom data_out;
	SETFLOAT(&data_out, (float) m_area_threshold);
	outlet_anything( m_dataout_right, gensym("area"), 1, &data_out);
}
void pix_opencv_contours :: contoursMess(double arg)
{
	m_enable_contours = arg > 0;
}
void pix_opencv_contours :: convexhullsMess(double arg)
{
	m_enable_hulls = arg > 0;
}
void pix_opencv_contours :: convexitydefectsMess(double arg)
{
	m_enable_defects = arg > 0;
}
void pix_opencv_contours :: hierarchyMess(double arg)
{
	m_hierarchy_level = arg < -1 ? -1 : arg;
	m_mode = m_hierarchy_level == -1 ? CV_RETR_LIST : CV_RETR_TREE;
}

void pix_opencv_contours :: taboutputMess(float arg)
{
	m_taboutput = arg > 0;
}
void pix_opencv_contours :: tableMess(t_symbol*xarray, t_symbol*yarray, t_symbol*zarray)
{	
	// check if arrays exist
	m_x_arrayname = xarray;
	m_y_arrayname = yarray;
	m_z_arrayname = zarray;
	
	m_taboutput = 1;
}