finish rename

1 files changed, 0 insertions, 97 deletions

diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
deleted file mode 100644
index 4aa1a658..00000000
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff

- *

- * Permission to use, copy, modify, and/or distribute this software for any

- * purpose with or without fee is hereby granted, provided that the above

- * copyright notice and this permission notice appear in all copies.

- */

-

-#include "point_extractor.h"

-#include <QDebug>

-

-using namespace cv;

-using namespace std;

-

-// ----------------------------------------------------------------------------

-const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)

-{

-	/*

-	// sensitivity test for tracker

-	static int n = 0;

-	if (points.size() == 3)

-	{

-		for (int i=0; i<3; ++i)

-		{

-			points[i][0] -= 1e-4*sin(n/100.0);

-			points[i][1] -= 1e-4*cos(n/100.0);

-		}

-		++n;

-		return points;

-	}

-	*/

-

-	// convert to grayscale

-	Mat frame_bw;

-	cvtColor(frame, frame_bw, CV_RGB2GRAY);

-

-	// convert to binary

-	threshold(frame_bw, frame_bw, threshold_val, 255, THRESH_BINARY);

-	//erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size); //destroys information -> bad for subpixel accurarcy

-

-	// find connected components...

-	// extract blobs with floodfill

-	struct BlobInfo

-	{

-		BlobInfo() : m00(0), m10(0), m01(0) {}

-		long m00;

-		long m10;

-		long m01;

-	};

-	vector<BlobInfo> blobs;

-    int blob_count = 1;

-

-    for (int y=0; y < frame_bw.rows; y++) {

-        for (int x=0; x < frame_bw.cols; x++) {

-			if (frame_bw.at<unsigned char>(y,x) != 255) continue;

-            Rect rect;

-            floodFill(frame_bw, Point(x,y), Scalar(blob_count), &rect, Scalar(0), Scalar(0), 4);

-			BlobInfo blob;

-            for (int i=rect.y; i < (rect.y+rect.height); i++) {

-                for (int j=rect.x; j < (rect.x+rect.width); j++) {

-                    if (frame_bw.at<unsigned char>(i,j) != blob_count) continue;

-                    blob.m00++;

-					blob.m01+=i;

-					blob.m10+=j;

-                }

-            }

-            blobs.push_back(blob);

-            blob_count++;

-			if (blob_count >= 255) break;

-        }

-		if (blob_count >= 255) break;

-    }

-

-	// extract points

-	Vec2f c;

-	points.clear();

-	float m00_min = 3.14*min_size*min_size;

-	float m00_max = 3.14*max_size*max_size;

-	for (vector<BlobInfo>::iterator iter = blobs.begin();

-		 iter!= blobs.end();

-		 ++iter)

-	{

-		const BlobInfo& m = *iter;

-		if (m.m00 < m00_min || m.m00 > m00_max) continue;

-		// convert to centered camera coordinate system with y axis upwards

-		c[0] =  (m.m10/float(m.m00) - frame.cols/2)/frame.cols;

-		c[1] = -(m.m01/float(m.m00) - frame.rows/2)/frame.cols;

-		points.push_back(c);

-	}

-	

-	// draw output image

-	if (draw_output)

-	{	

-		frame.setTo(Scalar(255,0,0), frame_bw);

-	}

-

-	return points;

-}