diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
| commit | bef7aff31e5ea073f0f160ca6a2f1e56b7dd881a (patch) | |
| tree | 2f6122f682427322f925736e87a0bd68b658972c /FTNoIR_Tracker_PT/point_extractor.cpp | |
| parent | 3734ab61a6f0d4d8aad32a17a2eb5fc49245626e (diff) | |
Initial PT 1.1 import
Codebase broken at this stage
Diffstat (limited to 'FTNoIR_Tracker_PT/point_extractor.cpp')
| -rw-r--r-- | FTNoIR_Tracker_PT/point_extractor.cpp | 101 |
1 files changed, 101 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp new file mode 100644 index 00000000..76a152a7 --- /dev/null +++ b/FTNoIR_Tracker_PT/point_extractor.cpp @@ -0,0 +1,101 @@ +/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * 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>
+
+using namespace cv;
+using namespace std;
+
+// ----------------------------------------------------------------------------
+const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)
+{
+ const int W = frame.cols;
+ const int H = frame.rows;
+
+ // clear old points
+ points.clear();
+
+ // convert to grayscale
+ Mat frame_gray;
+ cvtColor(frame, frame_gray, CV_RGB2GRAY);
+
+ // convert to binary
+ Mat frame_bin;
+ threshold(frame_gray, frame_bin, threshold_val, 255, THRESH_BINARY);
+
+ 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;
+
+ int blob_index = 1;
+ for (int y=0; y<H; y++)
+ {
+ if (blob_index >= 255) break;
+ for (int x=0; x<W; x++)
+ {
+ if (blob_index >= 255) break;
+
+ // find connected components with floodfill
+ if (frame_bin.at<unsigned char>(y,x) != 255) continue;
+ Rect rect;
+ floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE);
+ blob_index++;
+
+ // calculate the size of the connected component
+ unsigned int region_size = 0;
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
+ {
+ for (int j=rect.x; j < (rect.x+rect.width); j++)
+ {
+ if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+ region_size++;
+ }
+ }
+
+ if (region_size < region_size_min || region_size > region_size_max) continue;
+
+ // calculate the center of mass:
+ // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij))
+ // my = ...
+ // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0
+ float m = 0;
+ float mx = 0;
+ float my = 0;
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
+ {
+ for (int j=rect.x; j < (rect.x+rect.width); j++)
+ {
+ if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
+ float val = frame_gray.at<unsigned char>(i,j);
+ val = float(val - threshold_val)/(256 - threshold_val);
+ val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
+ m += val;
+ mx += j * val;
+ my += i * val;
+ }
+ }
+
+ // convert to centered camera coordinate system with y axis upwards
+ Vec2f c;
+ c[0] = (mx/m - W/2)/W;
+ c[1] = -(my/m - H/2)/W;
+ points.push_back(c);
+ }
+ }
+
+ // draw output image
+ if (draw_output) {
+ vector<Mat> channels;
+ frame_bin.setTo(170, frame_bin);
+ channels.push_back(frame_gray + frame_bin);
+ channels.push_back(frame_gray - frame_bin);
+ channels.push_back(frame_gray - frame_bin);
+ merge(channels, frame);
+ }
+
+ return points;
+}
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