pt: remove hysteresis

No one used it, and we have a better solution for stable extraction,
pending commit.

5 files changed, 31 insertions, 109 deletions

diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 0e6048c3..39fb0686 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -259,19 +259,6 @@
           <string>Point extraction</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_7">
-          <item row="0" column="4">
-           <widget class="QSpinBox" name="mindiam_spin">
-            <property name="toolTip">
-             <string>Minimum point diameter</string>
-            </property>
-            <property name="suffix">
-             <string> px</string>
-            </property>
-            <property name="maximum">
-             <number>1024</number>
-            </property>
-           </widget>
-          </item>
           <item row="0" column="1" colspan="2">
            <widget class="QSlider" name="threshold_slider">
             <property name="toolTip">
@@ -297,81 +284,59 @@
             </property>
            </widget>
           </item>
-          <item row="1" column="4">
-           <widget class="QSpinBox" name="maxdiam_spin">
-            <property name="toolTip">
-             <string>Maximum point diameter</string>
-            </property>
-            <property name="suffix">
-             <string> px</string>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_7">
+            <property name="text">
+             <string>Min size</string>
             </property>
-            <property name="maximum">
-             <number>1024</number>
+            <property name="buddy">
+             <cstring>mindiam_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="1" column="3">
-           <widget class="QLabel" name="label_8">
+          <item row="0" column="0">
+           <widget class="QLabel" name="label">
             <property name="text">
-             <string>Max size</string>
+             <string>Threshold</string>
             </property>
             <property name="buddy">
-             <cstring>maxdiam_spin</cstring>
+             <cstring>threshold_slider</cstring>
             </property>
            </widget>
           </item>
-          <item row="1" column="1" colspan="2">
-           <widget class="QSlider" name="threshold_secondary_slider">
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="mindiam_spin">
             <property name="toolTip">
-             <string>Per pixel hysteresis width (leave left if there is little difference between dot and non-dot, move right for increased stability against pixel noise)</string>
-            </property>
-            <property name="maximum">
-             <number>255</number>
-            </property>
-            <property name="pageStep">
-             <number>1</number>
-            </property>
-            <property name="value">
-             <number>100</number>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
+             <string>Minimum point diameter</string>
             </property>
-            <property name="tickPosition">
-             <enum>QSlider::TicksBothSides</enum>
+            <property name="suffix">
+             <string> px</string>
             </property>
-            <property name="tickInterval">
-             <number>25</number>
+            <property name="maximum">
+             <number>1024</number>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label">
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_8">
             <property name="text">
-             <string>Threshold</string>
+             <string>Max size</string>
             </property>
             <property name="buddy">
-             <cstring>threshold_slider</cstring>
+             <cstring>maxdiam_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_secondary">
-            <property name="text">
-             <string>Hysteresis</string>
-            </property>
-            <property name="buddy">
-             <cstring>threshold_secondary_slider</cstring>
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="maxdiam_spin">
+            <property name="toolTip">
+             <string>Maximum point diameter</string>
             </property>
-           </widget>
-          </item>
-          <item row="0" column="3">
-           <widget class="QLabel" name="label_7">
-            <property name="text">
-             <string>Min size</string>
+            <property name="suffix">
+             <string> px</string>
             </property>
-            <property name="buddy">
-             <cstring>mindiam_spin</cstring>
+            <property name="maximum">
+             <number>1024</number>
             </property>
            </widget>
           </item>
@@ -1150,9 +1115,6 @@
   <tabstop>fps_spin</tabstop>
   <tabstop>fov</tabstop>
   <tabstop>threshold_slider</tabstop>
-  <tabstop>mindiam_spin</tabstop>
-  <tabstop>threshold_secondary_slider</tabstop>
-  <tabstop>maxdiam_spin</tabstop>
   <tabstop>model_tabs</tabstop>
   <tabstop>clip_tlength_spin</tabstop>
   <tabstop>clip_theight_spin</tabstop>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 86178cb3..e7f1384d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -44,7 +44,6 @@ TrackerDialog_PT::TrackerDialog_PT()
     tie_setting(s.cam_res_y, ui.res_y_spin);
     tie_setting(s.cam_fps, ui.fps_spin);
 
-    tie_setting(s.threshold_secondary, ui.threshold_secondary_slider);
     tie_setting(s.threshold, ui.threshold_slider);
 
     tie_setting(s.min_point_size, ui.mindiam_spin);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index 14786013..4e241bc3 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -18,7 +18,6 @@ struct settings_pt : opts
                cam_res_y,
                cam_fps,
                threshold,
-               threshold_secondary,
                min_point_size,
                max_point_size;
 
@@ -41,7 +40,6 @@ struct settings_pt : opts
         cam_res_y(b, "camera-res-height", 480),
         cam_fps(b, "camera-fps", 30),
         threshold(b, "threshold-primary", 128),
-        threshold_secondary(b, "threshold-secondary", 128),
         min_point_size(b, "min-point-size", 10),
         max_point_size(b, "max-point-size", 50),
         m01_x(b, "m_01-x", 0),
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 5f7f6829..dab1d967 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -25,51 +25,15 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
 	const int W = frame.cols;
 	const int H = frame.rows; 
 
-    if (frame_last.cols != W || frame_last.rows != H)
-    {
-        frame_last = cv::Mat();
-    }
-
 	// convert to grayscale
 	Mat frame_gray;
     cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
 
-	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;
-	// only used if draw_output
-	Mat frame_bin_copy;
-	// mask for everything that passes
-	Mat frame_bin_low;
-	// mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0
-	Mat frame_last_and_low;
-
-	if(secondary==0){
-		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 = primary;
-		//float hyst = float(threshold_secondary_val)/512.;
-		//threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
-		float hyst = float(primary)/(256.*8.);
-		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);
-        if(frame_last.empty()){
-			frame_bin.copyTo(frame_last);
-		}else{
-			// keep pixels from last if they are above lower threshold
-			bitwise_and(frame_last, frame_bin_low, frame_last_and_low);
-			// union of pixels >= higher threshold and pixels >= lower threshold
-			bitwise_or(frame_bin, frame_last_and_low, frame_last);
-			frame_last.copyTo(frame_bin);
-		}
-	}
-    
+    threshold(frame_gray, frame_bin, s.threshold, 255, THRESH_BINARY);
+   
     int min_size = s.min_point_size;
     int max_size = s.max_point_size;
     
diff --git a/ftnoir_tracker_pt/point_extractor.h b/ftnoir_tracker_pt/point_extractor.h
index 3f6cfb72..b9368ab6 100644
--- a/ftnoir_tracker_pt/point_extractor.h
+++ b/ftnoir_tracker_pt/point_extractor.h
@@ -28,7 +28,6 @@ public:
     settings_pt s;
 private:
     std::vector<cv::Vec2f> points;
-    cv::Mat frame_last;
 };
 
 #endif //POINTEXTRACTOR_H