diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_extractor.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 17 |
1 files changed, 11 insertions, 6 deletions
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index 819bf5e8..f4eefb0f 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -37,7 +37,8 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame) Mat frame_gray; cvtColor(frame, frame_gray, CV_RGB2GRAY); - int secondary = threshold_secondary_val; + int secondary = s.threshold_secondary; + int primary = s.threshold; // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) Mat frame_bin; @@ -49,15 +50,15 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame) Mat frame_last_and_low; if(secondary==0){ - threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY); + threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY); }else{ // we recombine a number of buffers, this might be slower than a single loop of per-pixel logic // but it might as well be faster if openCV makes good use of SIMD - float t = threshold_val; + float t = primary; //float hyst = float(threshold_secondary_val)/512.; //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY); - float hyst = float(threshold_secondary_val)/256.; - threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY); + float hyst = float(primary)/256.; + threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY); threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY); frame_bin.copyTo(frame_bin_copy); @@ -71,6 +72,10 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame) frame_last.copyTo(frame_bin); } } + + int min_size = s.min_point_size; + int max_size = s.max_point_size; + unsigned int region_size_min = 3.14*min_size*min_size/4.0; unsigned int region_size_max = 3.14*max_size*max_size/4.0; @@ -118,7 +123,7 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat& frame) if(secondary==0){ val = frame_gray.at<unsigned char>(i,j); - val = float(val - threshold_val)/(256 - threshold_val); + val = float(val - primary)/(256 - primary); val = val*val; // makes it more stable (less emphasis on low values, more on the peak) }else{ //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture |