Run dos2unix on the tree. No user-facing changes.

1 files changed, 96 insertions, 96 deletions

diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 61e86bec..09be967a 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -1,96 +1,96 @@
-/* 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;

-}

+/* 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;
+}