www.pudn.com > reacTIVision-1.3.rar > FidtrackFinderClassic.cpp

/*  reacTIVision fiducial tracking framework
    FidtrackFinderClassic.cpp
    Copyright (C) 2006 Martin Kaltenbrunner 

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "FidtrackFinderClassic.h"

bool FidtrackFinderClassic::init(int w, int h, int sb, int db) {
	
	FiducialFinder::init(w,h,sb,db);
	
	if (db!=1) {
		printf("target buffer must be grayscale");
		return false;
	}
	
	initialize_segmenter( &segmenter, width, height, 8 );

	return true;
}

void FidtrackFinderClassic::process(unsigned char *src, unsigned char *dest) {

	// segmentation
	step_segmenter( &segmenter, dest, width, height );
	// fiducial recognition
	int count = find_fiducials120( fiducials, MAX_FIDUCIAL120_COUNT,  &partialSegmentTopology, &segmenter);

	// process symbols
	for(int i=0;i< count;i++) {

		//apply distortion
		if (distortion) {
			int index = (int)floor(fiducials[i].y)*width+(int)floor(fiducials[i].x);
			fiducials[i].x = dmap[index].x;
			fiducials[i].y = dmap[index].y;
		}

		FiducialObject *existing_fiducial = NULL;

		// check if we have an ID/Position conflict
		// or correct an INVALID_FIDUCIAL120_ID if we had an ID in the last frame
		for (fiducial = fiducialList.begin(); fiducial!=fiducialList.end(); fiducial++) {

			float distance = fiducial->distance(fiducials[i].x,fiducials[i].y);

			if (fiducials[i].id==fiducial->fiducial_id) {
				// find and match a fiducial we had last frame already ...
				if(existing_fiducial) {
					if (distancedistance(fiducials[i].x,fiducials[i].y))
						existing_fiducial = &(*fiducial);
				} else {
					existing_fiducial = &(*fiducial);
					for (int j=0;jdistance(fiducials[j].x,fiducials[j].y)classId) printf("corrected wrong ID from %d to %d at %f %f\n",fiducials[i].id,pos->classId,fiducials[i].x/width,fiducials[i].y/height);*/

				fiducials[i].id=fiducial->fiducial_id;
				existing_fiducial = &(*fiducial);
				break;
			}
		}

		if  (existing_fiducial!=NULL) {
			// just update the fiducial from last frame ...
			existing_fiducial->update(fiducials[i].x,fiducials[i].y,fiducials[i].angle);
		} else if  (fiducials[i].id!=INVALID_FIDUCIAL120_ID) {
			// add the newly found object
			FiducialObject addFiducial(session_id, fiducials[i].id, width, height);
			addFiducial.update(fiducials[i].x,fiducials[i].y,fiducials[i].angle);
			fiducialList.push_back(addFiducial);
			if (mserver!=NULL) mserver->sendAddMessage(fiducials[i].id);
			if (msg_listener) {
				char add_message[16];
				sprintf(add_message,"add obj %d %ld",fiducials[i].id,session_id);
				msg_listener->setMessage(std::string(add_message));
			}
			session_id++;
		}

		if(fiducials[i].id!=INVALID_FIDUCIAL120_ID && msg_listener)
			 msg_listener->setObject(fiducials[i].id,(int)(fiducials[i].x),(int)(fiducials[i].y),fiducials[i].angle );
	} 

	if (tserver) sendTuioMessages();
	if (mserver) sendMidiMessages();
	drawGrid(src,dest);
}