corrected vc9 project file debug settings

Tracker_PT: implemented centering
Tracker_PT: implemented new point extraction
Tracker_PT: various bugfixes

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@148 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb

1 files changed, 73 insertions, 3 deletions

diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp
index 956a2834..a415f24e 100644
--- a/FTNoIR_Tracker_PT/point_extractor.cpp
+++ b/FTNoIR_Tracker_PT/point_extractor.cpp
@@ -15,14 +15,32 @@ using namespace std;
 // ----------------------------------------------------------------------------

 const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool draw_output)

 {

+	/*

+	// sensitivity test for tracker

+	static int n = 0;

+	if (points.size() == 3)

+	{

+		for (int i=0; i<3; ++i)

+		{

+			points[i][0] -= 1e-4*sin(n/100.0);

+			points[i][1] -= 1e-4*cos(n/100.0);

+		}

+		++n;

+		return points;

+	}

+	*/

+

 	// convert to grayscale

 	Mat frame_bw;

 	cvtColor(frame, frame_bw, CV_RGB2GRAY);

 

 	// convert to binary

 	threshold(frame_bw, frame_bw, threshold_val, 255, THRESH_BINARY);

-	erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size);

+	//erode(frame_bw, frame_bw, Mat(), Point(-1,-1), min_size); //destroys information -> bad for subpixel accurarcy

 

+	// find connected components...

+	// Method 1: contours

+	//*

 	// find contours

 	vector< vector<Point> > contours;

 	findContours(frame_bw.clone(), contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE);

@@ -38,14 +56,66 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
 		 ++iter)

 	{

 		minEnclosingCircle(*iter, dummy, r);

-		if (r > max_size - min_size) break;

+		if (r > max_size) continue;

 		Moments m = moments(*iter);

-		if (m.m00 == 0) break;

+		if (m.m00 < 3.14*min_size*min_size) continue;

 		// convert to centered camera coordinate system with y axis upwards

 		c[0] =  (m.m10/m.m00 - frame.cols/2)/frame.cols;

 		c[1] = -(m.m01/m.m00 - frame.rows/2)/frame.cols;

 		points.push_back(c);

 	}

+	//*/

+

+	// Method 2: floodfill
+	/*
+	// extract blobs
+	struct BlobInfo
+	{
+		BlobInfo() : m00(0), m10(0), m01(0) {}
+		long m00;
+		long m10;
+		long m01;
+	};
+	vector<BlobInfo> blobs;
+    int blob_count = 1;
+
+    for (int y=0; y < frame_bw.rows; y++) {
+        for (int x=0; x < frame_bw.cols; x++) {
+			if (frame_bw.at<unsigned char>(y,x) != 255) continue;
+            Rect rect;
+            floodFill(frame_bw, Point(x,y), Scalar(blob_count), &rect, Scalar(0), Scalar(0), 4);
+			BlobInfo blob;
+            for (int i=rect.y; i < (rect.y+rect.height); i++) {
+                for (int j=rect.x; j < (rect.x+rect.width); j++) {
+                    if (frame_bw.at<unsigned char>(i,j) != blob_count) continue;
+                    blob.m00++;
+					blob.m01+=i;
+					blob.m10+=j;
+                }
+            }
+            blobs.push_back(blob);
+            blob_count++;
+			if (blob_count >= 255) break;
+        }
+    }
+
+	// extract points
+	Vec2f c;
+	points.clear();
+	float m00_min = 3.14*min_size*min_size;
+	float m00_max = 3.14*max_size*max_size;
+	for (vector<BlobInfo>::iterator iter = blobs.begin();

+		 iter!= blobs.end();

+		 ++iter)

+	{

+		const BlobInfo& m = *iter;

+		if (m.m00 < m00_min || m.m00 > m00_max) continue;

+		// convert to centered camera coordinate system with y axis upwards

+		c[0] =  (m.m10/float(m.m00) - frame.cols/2)/frame.cols;

+		c[1] = -(m.m01/float(m.m00) - frame.rows/2)/frame.cols;

+		points.push_back(c);

+	}
+	*/
 	

 	// draw output image

 	if (draw_output)