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-rw-r--r--tracker-pt/point_extractor.cpp180
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diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
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+/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * 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>
+
+#ifdef DEBUG_EXTRACTION
+# include "opentrack-compat/timer.hpp"
+#endif
+
+PointExtractor::PointExtractor(){
+ //if (!AllocConsole()){}
+ //else SetConsoleTitle("debug");
+ //freopen("CON", "w", stdout);
+ //freopen("CON", "w", stderr);
+}
+// ----------------------------------------------------------------------------
+std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
+{
+ const int W = frame.cols;
+ const int H = frame.rows;
+
+ // convert to grayscale
+ cv::Mat frame_gray;
+ cv::cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
+
+ const double region_size_min = s.min_point_size;
+ const double region_size_max = s.max_point_size;
+
+ struct blob
+ {
+ double radius;
+ cv::Vec2d pos;
+ double confid;
+ bool taken;
+ double area;
+ blob(double radius, const cv::Vec2d& pos, double confid, double area) : radius(radius), pos(pos), confid(confid), taken(false), area(area)
+ {
+ //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
+ }
+ bool inside(const blob& other)
+ {
+ cv::Vec2d tmp = pos - other.pos;
+ return sqrt(tmp.dot(tmp)) < radius;
+ }
+ };
+
+ // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
+ cv::Mat frame_bin = cv::Mat::zeros(H, W, CV_8U);
+
+ std::vector<blob> blobs;
+ std::vector<std::vector<cv::Point>> contours;
+
+ const int thres = s.threshold;
+ if (!s.auto_threshold)
+ {
+ cv::Mat frame_bin_;
+ cv::threshold(frame_gray, frame_bin_, thres, 255, cv::THRESH_BINARY);
+ frame_bin.setTo(170, frame_bin_);
+ cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+ }
+ else
+ {
+ cv::Mat hist;
+ cv::calcHist(std::vector<cv::Mat> { frame_gray },
+ std::vector<int> { 0 },
+ cv::Mat(),
+ hist,
+ std::vector<int> { 256 },
+ std::vector<float> { 0, 256 },
+ false);
+ const int sz = hist.rows*hist.cols;
+ int val = 0;
+ int cnt = 0;
+ constexpr int min_pixels = 250;
+ const auto pixels_to_include = std::max<int>(0, min_pixels * s.threshold/100.);
+ for (int i = sz-1; i >= 0; i--)
+ {
+ cnt += hist.at<float>(i);
+ if (cnt >= pixels_to_include)
+ {
+ val = i;
+ break;
+ }
+ }
+ val *= 240./256.;
+ //qDebug() << "val" << val;
+
+ cv::Mat frame_bin_;
+ cv::threshold(frame_gray, frame_bin_, val, 255, CV_THRESH_BINARY);
+ frame_bin.setTo(170, frame_bin_);
+ cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+ }
+
+ int cnt = 0;
+
+ for (auto& c : contours)
+ {
+ if (cnt++ > 30)
+ break;
+
+ const auto m = cv::moments(cv::Mat(c));
+ const double area = m.m00;
+ if (area == 0.)
+ continue;
+ const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00);
+
+ double radius;
+// following based on OpenCV SimpleBlobDetector
+ {
+ std::vector<double> dists;
+ for (auto& k : c)
+ {
+ dists.push_back(cv::norm(pos - cv::Vec2d(k.x, k.y)));
+ }
+ std::sort(dists.begin(), dists.end());
+ radius = (dists[(dists.size() - 1)/2] + dists[dists.size()/2])/2;
+ }
+
+ if (radius < region_size_min || radius > region_size_max)
+ continue;
+
+ double confid = 1;
+ {
+ double denominator = std::sqrt(std::pow(2 * m.mu11, 2) + std::pow(m.mu20 - m.mu02, 2));
+ const double eps = 1e-2;
+ if (denominator > eps)
+ {
+ double cosmin = (m.mu20 - m.mu02) / denominator;
+ double sinmin = 2 * m.mu11 / denominator;
+ double cosmax = -cosmin;
+ double sinmax = -sinmin;
+
+ double imin = 0.5 * (m.mu20 + m.mu02) - 0.5 * (m.mu20 - m.mu02) * cosmin - m.mu11 * sinmin;
+ double imax = 0.5 * (m.mu20 + m.mu02) - 0.5 * (m.mu20 - m.mu02) * cosmax - m.mu11 * sinmax;
+ confid = imin / imax;
+ }
+ }
+// end SimpleBlobDetector
+
+ {
+ char buf[64];
+ sprintf(buf, "%.2fpx %.2fc", radius, confid);
+ cv::putText(frame, buf, cv::Point(pos[0]+30, pos[1]+20), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(0, 0, 255), 1);
+ }
+
+ blobs.push_back(blob(radius, pos, confid, area));
+ }
+
+ // clear old points
+ points.clear();
+
+ using b = const blob;
+ std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
+
+ for (auto& b : blobs)
+ {
+ cv::Vec2f p((b.pos[0] - W/2)/W, -(b.pos[1] - H/2)/W);
+ points.push_back(p);
+ }
+
+ // draw output image
+ std::vector<cv::Mat> channels_;
+ cv::split(frame, channels_);
+ std::vector<cv::Mat> channels;
+ {
+ cv::Mat frame_bin__ = frame_bin * .5;
+ channels.push_back(channels_[0] + frame_bin__);
+ channels.push_back(channels_[1] - frame_bin__);
+ channels.push_back(channels_[2] - frame_bin__);
+ cv::merge(channels, frame);
+ }
+
+ return points;
+}