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path: root/tracker-pt/point_extractor.h
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2017-07-25tracker/pt: fix weight formulaStanislaw Halik
2017-06-22tracker/pt: replace point extraction algorithmStanislaw Halik
Profiling over a longer time period showed a bottleneck while iterating pixels with `cv::floodFill()'. Contours are actually faster, and we have MeanShift to establish the proper center basing on pixel intensities.
2017-06-12tracker/pt: cleanupStanislaw Halik
Also, changing "f" typedef to "float" won't break the build anymore.
2017-04-18tracker/pt: revert extractor changeStanislaw Halik
2017-04-18tracker/pt: replace original blob center search with meanshiftStanislaw Halik
The functions are almost identical so why not. I removed several bits: - weighting by squared pixel value is bad. weight by pixel value instead. - making the ROI twice as big doesn't make sense and makes for misdetected blobs. remove it. - switch radius coefficient to something doing less iterations. - sprinkle some __restrict pointer qualifier. - cv::floodfill invocation had some hardcoded flag value. - point radius circle and the bullseye line length weren't adjusted by scaling ratio. while the circle fitted the radius tightly, it was now clutter, so I removed it, leaving only the properly-scaled bullseye. - brightness had to go sadly since it's not accumulated anymore.
2017-02-21tracker/pt: remove obvious warningStanislaw Halik
2017-02-21tracker/pt: resize the camera feed, not the previewStanislaw Halik
This makes the point size text and point crosses not alias due to the resize. Due to nice pixel coordinate system, the cross-drawing lambda only needs minimal changes.
2016-12-16tracker/pt: refactor camera info handlingStanislaw Halik
- Pass `struct CamInfo' rather than several elements separately - Reformat - Return `struct CamInfo' together with the frame since then it's always valid - Move the focal length formula into `struct CamInfo' - Remove incorrect focal length formula rather than #if 0 - Pass some stuff by reference and not by pointer
2016-12-09tracker/pt: improved precision and noise rejection by mean shift filteringDaMichel
2016-11-12tracker/pt: refactorStanislaw Halik
- separate .{cpp,hpp} for few classes - don't include namespaces globally; harmless but looks bad anyway - class with all public members to struct
2016-10-11tracker/pt: fix brain fart in extractorStanislaw Halik
It's multiplied by 3 just a few lines below. So ~2 is actually a good lower bound.
2016-09-21many: remove compat/pi-constant.hppStanislaw Halik
With -D_USE_MATH_DEFINES MSVC defines the standard M_PI and friends. Since this preprocessor definition is now always passed as part of the build system for MSVC. We can use M_PI as if on a mission.
2016-09-16tracker/pt: get rid of pt_types classStanislaw Halik
2016-08-12all: rename modules s#^opentrack-##. and opentrack -> apiStanislaw Halik
Adjust usages.
2016-07-20tracker/pt: fix wrong input to flood fillStanislaw Halik
The binary frame needs to be used, not grayscale. v2: Use brightness for sorting points.
2016-07-19tracker/pt: reduce lockingStanislaw Halik
2016-07-19tracker/pt: replace point extractor with original one by Patrick RuoffStanislaw Halik
The new extractor we've been using doesn't take into account brightness at all. All contours give is the ability to sort points by circularity. v2: Change the auto threshold point size range to 2->7 pixels radius. Issue: #389 v3: sort by radius instead
2016-07-19some: replace hardcoded pi values with the same pi constantStanislaw Halik
We can't depend on M_PI existing after including cmath.
2016-07-16tracker/pt: don't scale down auto threshold valueStanislaw Halik
Also, make the slider signify the max point radius (hence squaring).
2016-07-16tracker/pt: declare floating-point type size in one placeStanislaw Halik
We want double precision for POSIT. It's best for the type to be set in ope place without the need to go over everything while switching it back and forth during tests. Machine epsilon for float is very small as per <https://en.wikipedia.org/wiki/Machine_epsilon>. Also see the absurdly high epsilon of 1e-4 of POSIT that we've had. With floats, making the epsilon lower resulted in change deltas flushing to zero. This typically led to the translation Z value being very unstable in PT. After the epsilon and data type size changes the Z value is stable.
2016-06-21tracker/pt: adjust auto threshold max area sizeStanislaw Halik
2016-06-21tracker/pt: move pi constant to headersStanislaw Halik
2016-05-13Revert "tracker/pt: experimental non-white color removal"Stanislaw Halik
This reverts commit 546cfb5ad52dcfe1421d1af5e7baeada588ac735. @MathijsG points out that some users have red LEDs, not uniform white. Issue: #355
2016-04-27tracker/pt: experimental non-white color removalStanislaw Halik
It's enabled only for automatic thresholding. With it on, it's possible to keep tracking in normal light conditions without changing gain or exposure beforehand. It won't function on badly overexposed images, or with other bright white colors in the frame. It should function on somewhat overexposed images. CPU usage is somewhat high, even taking advantage of all OpenCV SIMD goodness as per the code. We can revert the change if user reception is bad.
2016-03-07tracker/pt: less malloc/free each frameStanislaw Halik
2016-02-17tracker/pt: fix buildStanislaw Halik
2016-02-17tracker/pt: retire get_points() in the extractorStanislaw Halik
2016-02-17tracker/pt: protect get_n_points()Stanislaw Halik
There's a race here since further accesses to the points array aren't protected by a mutex in the extractor class. There's no race in "get_points()" in the extractor since it's only used in same thread where updates take place.
2015-12-28tracker/pt: increase auto threshold bucket size againopentrack-2.3-rc21p7Stanislaw Halik
Slowdown was caused by something else. I can no longer reproduce it.
2015-12-19tracker/pt: don't allocate temporary dynamic size arraysStanislaw Halik
2015-12-19tracker/pt: don't copy points array needlesslyStanislaw Halik
2015-12-18tracker/pt: reduce mutex contentionStanislaw Halik
2015-10-30move to subdirectory-based build systemStanislaw Halik
Closes #224