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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_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);
}
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