rename case

1 files changed, 163 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..d9ff0a5b
--- /dev/null
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -0,0 +1,163 @@
+/* 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;

+

+

+PointExtractor::PointExtractor(){

+	//if (!AllocConsole()){}

+	//else SetConsoleTitle("debug");

+	//freopen("CON", "w", stdout);

+	//freopen("CON", "w", stderr);

+}

+// ----------------------------------------------------------------------------

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

+{

+	const int W = frame.cols;

+	const int H = frame.rows; 

+

+    if (frame_last.cols != W || frame_last.rows != H)

+    {

+        frame_last = cv::Mat();

+    }

+

+	// clear old points

+	points.clear();

+

+	// convert to grayscale

+	Mat frame_gray;

+    cvtColor(frame, frame_gray, CV_RGB2GRAY);

+

+	int secondary = threshold_secondary_val;

+	

+	// 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, threshold_val, 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 = threshold_val;

+		//float hyst = float(threshold_secondary_val)/512.;

+		//threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);

+		float hyst = float(threshold_secondary_val)/256.;

+		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);

+

+		if(draw_output) 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);

+		}

+	}

+	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;

+

+					if(secondary==0){

+						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)

+					}else{

+						//hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture

+						val = frame_last.at<unsigned char>(i,j) / 256.;

+					}

+

+					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;

+			//qDebug()<<blob_index<<"  => "<<c[0]<<" "<<c[1];

+			points.push_back(c);

+		}

+	}

+	

+	// draw output image

+	if (draw_output) {

+		vector<Mat> channels;

+		if(secondary==0){

+			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);

+		}else{

+			frame_bin_copy.setTo(120, frame_bin_copy);

+			frame_bin_low.setTo(90, frame_bin_low);

+			channels.push_back(frame_gray + frame_bin_copy);

+			channels.push_back(frame_gray + frame_last_and_low);

+			channels.push_back(frame_gray + frame_bin_low);

+			//channels.push_back(frame_gray + frame_bin);

+		}

+		merge(channels, frame);

+	}

+

+	return points;

+}