pt: experimental auto threshold support

Sponsored-by: TrackHat

4 files changed, 79 insertions, 49 deletions

diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 62add856..32dcdef1 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>405</width>
-    <height>593</height>
+    <width>419</width>
+    <height>575</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -299,52 +299,30 @@
           <string>Point extraction</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_7">
-          <item row="0" column="1" colspan="2">
-           <widget class="QSlider" name="threshold_slider">
+          <item row="3" column="1">
+           <widget class="QSpinBox" name="maxdiam_spin">
             <property name="toolTip">
-             <string>Intensity threshold for point extraction</string>
-            </property>
-            <property name="maximum">
-             <number>255</number>
-            </property>
-            <property name="pageStep">
-             <number>1</number>
-            </property>
-            <property name="value">
-             <number>127</number>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="tickPosition">
-             <enum>QSlider::TicksBothSides</enum>
-            </property>
-            <property name="tickInterval">
-             <number>25</number>
+             <string>Maximum point diameter</string>
             </property>
-           </widget>
-          </item>
-          <item row="1" column="0">
-           <widget class="QLabel" name="label_7">
-            <property name="text">
-             <string>Min size</string>
+            <property name="suffix">
+             <string> px</string>
             </property>
-            <property name="buddy">
-             <cstring>mindiam_spin</cstring>
+            <property name="maximum">
+             <number>1024</number>
             </property>
            </widget>
           </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label">
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_8">
             <property name="text">
-             <string>Threshold</string>
+             <string>Max size</string>
             </property>
             <property name="buddy">
-             <cstring>threshold_slider</cstring>
+             <cstring>maxdiam_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
+          <item row="2" column="1">
            <widget class="QSpinBox" name="mindiam_spin">
             <property name="toolTip">
              <string>Minimum point diameter</string>
@@ -357,26 +335,62 @@
             </property>
            </widget>
           </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Threshold</string>
+            </property>
+            <property name="buddy">
+             <cstring>threshold_slider</cstring>
+            </property>
+           </widget>
+          </item>
           <item row="2" column="0">
-           <widget class="QLabel" name="label_8">
+           <widget class="QLabel" name="label_7">
             <property name="text">
-             <string>Max size</string>
+             <string>Min size</string>
             </property>
             <property name="buddy">
-             <cstring>maxdiam_spin</cstring>
+             <cstring>mindiam_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="maxdiam_spin">
+          <item row="1" column="1" colspan="2">
+           <widget class="QSlider" name="threshold_slider">
             <property name="toolTip">
-             <string>Maximum point diameter</string>
-            </property>
-            <property name="suffix">
-             <string> px</string>
+             <string>Intensity threshold for point extraction</string>
             </property>
             <property name="maximum">
-             <number>1024</number>
+             <number>255</number>
+            </property>
+            <property name="pageStep">
+             <number>1</number>
+            </property>
+            <property name="value">
+             <number>127</number>
+            </property>
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="tickPosition">
+             <enum>QSlider::TicksBothSides</enum>
+            </property>
+            <property name="tickInterval">
+             <number>25</number>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_11">
+            <property name="text">
+             <string>Automatic threshold</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QCheckBox" name="auto_threshold">
+            <property name="text">
+             <string>Enable, ignore slider</string>
             </property>
            </widget>
           </item>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 12d108ac..da7a6113 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -62,6 +62,8 @@ TrackerDialog_PT::TrackerDialog_PT()
     tie_setting(s.dynamic_pose, ui.dynamic_pose);
 	tie_setting(s.init_phase_timeout, ui.init_phase_timeout);
 
+    tie_setting(s.auto_threshold, ui.auto_threshold);
+
     connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
 
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index af2f5978..57e68d0e 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -33,6 +33,7 @@ struct settings_pt : opts
     
     value<bool> dynamic_pose;
     value<int> init_phase_timeout;
+    value<bool> auto_threshold;
 
     settings_pt() :
         opts("tracker-pt"),
@@ -62,7 +63,8 @@ struct settings_pt : opts
         cap_z(b, "cap-z", 100),
         fov(b, "camera-fov", 56),
         dynamic_pose(b, "dynamic-pose-resolution", true),
-        init_phase_timeout(b, "init-phase-timeout", 500)
+        init_phase_timeout(b, "init-phase-timeout", 500),
+        auto_threshold(b, "automatic-threshold", false)
     {}
 };
 
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index fcdbbaed..0501a5c6 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -31,8 +31,6 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
     const int region_size_min = s.min_point_size;
     const int region_size_max = s.max_point_size;
     
-    const int thres = s.threshold;
-    
     struct simple_blob
     {
         double radius;
@@ -56,12 +54,26 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
     
     std::vector<simple_blob> blobs;
     std::vector<std::vector<cv::Point>> contours;
+
+    const int thres = s.threshold;
+    if (!s.auto_threshold)
     {
         cv::Mat frame_bin_;
         cv::threshold(frame_gray, frame_bin_, thres, 255, cv::THRESH_BINARY);
         frame_bin.setTo(170, frame_bin_);
         cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
     }
+    else
+    {
+        cv::Mat frame_bin_, tmp;
+        int scale = frame_gray.cols > 400 ? 2 : 1;
+        constexpr int size = 3;
+        static cv::Mat kernel = cv::getGaussianKernel(size * scale + 1, CV_32F);
+        cv::sepFilter2D(frame_gray, tmp, -1, kernel, kernel);
+        cv::threshold(tmp, frame_bin_, 0, 255, CV_THRESH_BINARY|CV_THRESH_OTSU);
+        frame_bin.setTo(170, frame_bin_);
+        cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+    }
 
     int cnt = 0;