dos2unix only

1 files changed, 163 insertions, 163 deletions

diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 968fe23e..b0e29270 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -1,163 +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;

-}

+/* 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;
+}