diff options
Diffstat (limited to 'FTNoIR_Tracker_PT/point_extractor.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_extractor.cpp | 76 |
1 files changed, 73 insertions, 3 deletions
diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp index 956a2834..a415f24e 100644 --- a/FTNoIR_Tracker_PT/point_extractor.cpp +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -15,14 +15,32 @@ 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);
+ //erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size); //destroys information -> bad for subpixel accurarcy
+ // find connected components...
+ // Method 1: contours
+ //*
// find contours
vector< vector<Point> > contours;
findContours(frame_bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);
@@ -38,14 +56,66 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr ++iter)
{
minEnclosingCircle(*iter, dummy, r);
- if (r > max_size - min_size) break;
+ if (r > max_size) continue;
Moments m = moments(*iter);
- if (m.m00 == 0) break;
+ if (m.m00 < 3.14*min_size*min_size) continue;
// convert to centered camera coordinate system with y axis upwards
c[0] = (m.m10/m.m00 - frame.cols/2)/frame.cols;
c[1] = -(m.m01/m.m00 - frame.rows/2)/frame.cols;
points.push_back(c);
}
+ //*/
+
+ // Method 2: floodfill + /* + // extract blobs + 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; + } + } + + // 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)
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