Initial PT 1.1 import

Codebase broken at this stage

1 files changed, 0 insertions, 96 deletions

diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
deleted file mode 100644
index 09be967a..00000000
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ /dev/null
@@ -1,96 +0,0 @@
-/* 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_grey;
-	cvtColor(frame, frame_grey, COLOR_BGR2GRAY);
-
-	// convert to binary
-	Mat frame_bin;
-	threshold(frame_grey, frame_bin, threshold_val, 255, THRESH_BINARY);
-
-	unsigned int region_size_min = 3.14*min_size*min_size;
-    unsigned int region_size_max = 3.14*max_size*max_size;
-
-    int blob_index = 1;
-    for (int y=0; y<H; y++)
-	{
-        for (int x=0; x<W; x++)
-		{
-			// 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_grey.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);
-            
-			if (blob_index >= 255) break;
-        }
-		if (blob_index >= 255) break;
-    }
-	
-	// draw output image
-	if (draw_output) {	
-		frame.setTo(Scalar(255,0,0), frame_bin);
-	}
-
-	return points;
-}