Merge branch 'unstable' into trackhat-ui

* unstable:
pt: experimental auto threshold support

4 files changed, 45 insertions, 16 deletions

diff --git a/facetracknoir/options-dialog.cpp b/facetracknoir/options-dialog.cpp
index 87b7b349..a2dd1726 100644
--- a/facetracknoir/options-dialog.cpp
+++ b/facetracknoir/options-dialog.cpp
@@ -79,6 +79,7 @@ OptionsDialog::OptionsDialog(State& state) : state(state), trans_calib_running(f
     
     tie_setting(pt.dynamic_pose, ui.dynamic_pose);
     tie_setting(pt.init_phase_timeout, ui.init_phase_timeout);
+    tie_setting(pt.auto_threshold, ui.auto_threshold);
     
     connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
     connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
diff --git a/facetracknoir/settings.ui b/facetracknoir/settings.ui
index 95d8d565..34953a51 100644
--- a/facetracknoir/settings.ui
+++ b/facetracknoir/settings.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>462</width>
-    <height>689</height>
+    <width>440</width>
+    <height>705</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -189,17 +189,7 @@
              <enum>QFrame::Raised</enum>
             </property>
             <layout class="QGridLayout" name="gridLayout_10">
-             <item row="0" column="0">
-              <widget class="QLabel" name="label">
-               <property name="text">
-                <string>Threshold</string>
-               </property>
-               <property name="buddy">
-                <cstring>threshold_slider</cstring>
-               </property>
-              </widget>
-             </item>
-             <item row="0" column="1">
+             <item row="1" column="1">
               <widget class="QSlider" name="threshold_slider">
                <property name="toolTip">
                 <string>Intensity threshold for point extraction</string>
@@ -224,6 +214,30 @@
                </property>
               </widget>
              </item>
+             <item row="1" column="0">
+              <widget class="QLabel" name="label">
+               <property name="text">
+                <string>Threshold</string>
+               </property>
+               <property name="buddy">
+                <cstring>threshold_slider</cstring>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="0">
+              <widget class="QLabel" name="label_38">
+               <property name="text">
+                <string>Automatic threshold</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QCheckBox" name="auto_threshold">
+               <property name="text">
+                <string>Enable, ignore slider</string>
+               </property>
+              </widget>
+             </item>
             </layout>
            </widget>
           </item>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 00346267..91086dfd 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -23,6 +23,7 @@ struct settings_pt : opts
 
     value<bool> dynamic_pose;
     value<int> init_phase_timeout;
+    value<bool> auto_threshold;
 
     settings_pt() :
         opts("tracker-pt"),
@@ -36,7 +37,8 @@ struct settings_pt : opts
         camera_mode(b, "camera-mode", 0),
         model_used(b, "model-used", 0),
         dynamic_pose(b, "dynamic-pose-resolution", true),
-        init_phase_timeout(b, "init-phase-timeout", 500)
+        init_phase_timeout(b, "init-phase-timeout", 500),
+        auto_threshold(b, "automatic-threshold", false)
     {}
 };
 
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index fcdbbaed..0501a5c6 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -31,8 +31,6 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
     const int region_size_min = s.min_point_size;
     const int region_size_max = s.max_point_size;
     
-    const int thres = s.threshold;
-    
     struct simple_blob
     {
         double radius;
@@ -56,12 +54,26 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
     
     std::vector<simple_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 frame_bin_, tmp;
+        int scale = frame_gray.cols > 400 ? 2 : 1;
+        constexpr int size = 3;
+        static cv::Mat kernel = cv::getGaussianKernel(size * scale + 1, CV_32F);
+        cv::sepFilter2D(frame_gray, tmp, -1, kernel, kernel);
+        cv::threshold(tmp, frame_bin_, 0, 255, CV_THRESH_BINARY|CV_THRESH_OTSU);
+        frame_bin.setTo(170, frame_bin_);
+        cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+    }
 
     int cnt = 0;