Easy Tracker: Deleting legacy point extractor. Various clean-up. Head center preview now working.

1 files changed, 0 insertions, 395 deletions

diff --git a/tracker-easy/point_extractor.cpp b/tracker-easy/point_extractor.cpp
deleted file mode 100644
index 06bb6c9a..00000000
--- a/tracker-easy/point_extractor.cpp
+++ /dev/null
@@ -1,395 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- * Copyright (c) 2015-2017 Stanislaw Halik <sthalik@misaki.pl>
- *
- * 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 "frame.hpp"
-
-#include "cv/numeric.hpp"
-#include "compat/math.hpp"
-
-#undef PREVIEW
-//#define PREVIEW
-
-#if defined PREVIEW
-#   include <opencv2/highgui.hpp>
-#endif
-
-#include <cmath>
-#include <algorithm>
-#include <cinttypes>
-#include <memory>
-
-#include <QDebug>
-
-using namespace numeric_types;
-
-// meanshift code written by Michael Welter
-
-/*
-http://en.wikipedia.org/wiki/Mean-shift
-In this application the idea, is to eliminate any bias of the point estimate 
-which is introduced by the rather arbitrary thresholded area. One must recognize
-that the thresholded area can only move in one pixel increments since it is
-binary. Thus, its center of mass might make "jumps" as pixels are added/removed
-from the thresholded area.
-With mean-shift, a moving "window" or kernel is multiplied with the gray-scale
-image, and the COM is calculated of the result. This is iterated where the
-kernel center is set the previously computed COM. Thus, peaks in the image intensity
-distribution "pull" the kernel towards themselves. Eventually it stops moving, i.e.
-then the computed COM coincides with the kernel center. We hope that the 
-corresponding location is a good candidate for the extracted point.
-The idea similar to the window scaling suggested in  Berglund et al. "Fast, bias-free 
-algorithm for tracking single particles with variable size and shape." (2008).
-*/
-static vec2 MeanShiftIteration(const cv::Mat1b &frame_gray, const vec2 &current_center, f filter_width)
-{
-    const f s = 1 / filter_width;
-
-    f m = 0;
-    vec2 com { 0, 0 };
-    for (int i = 0; i < frame_gray.rows; i++)
-    {
-        uint8_t const* const __restrict frame_ptr = frame_gray.ptr(i);
-        for (int j = 0; j < frame_gray.cols; j++)
-        {
-            f val = frame_ptr[j];
-            val = val * val; // taking the square weighs brighter parts of the image stronger.
-            f dx = (j - current_center[0])*s;
-            f dy = (i - current_center[1])*s;
-            f max = std::fmax(f(0), 1 - dx*dx - dy*dy);
-            val *= max;
-            m += val;
-            com[0] += j * val;
-            com[1] += i * val;
-        }
-    }
-    if (m > f(.1))
-    {
-        com *= 1 / m;
-        return com;
-    }
-    else
-        return current_center;
-}
-
-namespace pt_module {
-
-PointExtractor::PointExtractor(const QString& module_name) : s(module_name)
-{
-    blobs.reserve(max_blobs);
-}
-
-void PointExtractor::ensure_channel_buffers(const cv::Mat& orig_frame)
-{
-    if (ch[0].rows != orig_frame.rows || ch[0].cols != orig_frame.cols)
-        for (cv::Mat1b& x : ch)
-            x = cv::Mat1b(orig_frame.rows, orig_frame.cols);
-}
-
-void PointExtractor::ensure_buffers(const cv::Mat& frame)
-{
-    const int W = frame.cols, H = frame.rows;
-
-    if (frame_gray.rows != W || frame_gray.cols != H)
-    {
-        frame_gray = cv::Mat1b(H, W);
-        frame_bin = cv::Mat1b(H, W);
-        frame_gray_unmasked = cv::Mat1b(H, W);
-    }
-}
-
-void PointExtractor::extract_single_channel(const cv::Mat& orig_frame, int idx, cv::Mat1b& dest)
-{
-    ensure_channel_buffers(orig_frame);
-
-    const int from_to[] = {
-        idx, 0,
-    };
-
-    cv::mixChannels(&orig_frame, 1, &dest, 1, from_to, 1);
-}
-
-void PointExtractor::color_to_grayscale(const cv::Mat& frame, cv::Mat1b& output)
-{
-    switch (s.blob_color)
-    {
-    case pt_color_green_only:
-    {
-        extract_single_channel(frame, 1, output);
-        break;
-    }
-    case pt_color_blue_only:
-    {
-        extract_single_channel(frame, 0, output);
-        break;
-    }
-    case pt_color_red_only:
-    {
-        extract_single_channel(frame, 2, output);
-        break;
-    }
-    case pt_color_average:
-    {
-        const int W = frame.cols, H = frame.rows, sz = W*H;
-        cv::reduce(frame.reshape(1, sz),
-                   output.reshape(1, sz),
-                   1, cv::REDUCE_AVG);
-        break;
-    }
-    default:
-        eval_once(qDebug() << "wrong pt_color_type enum value" << int(s.blob_color));
-    [[fallthrough]];
-    case pt_color_natural:
-        cv::cvtColor(frame, output, cv::COLOR_BGR2GRAY);
-        break;
-    }
-}
-
-void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat1b& output)
-{
-    const int threshold_slider_value = s.threshold_slider.to<int>();
-
-    if (!s.auto_threshold)
-    {
-        cv::threshold(frame_gray, output, threshold_slider_value, 255, cv::THRESH_BINARY);
-    }
-    else
-    {
-        const int hist_size = 256;
-        const float ranges_[] = { 0, 256 };
-        float const* ranges = (const float*) ranges_;
-
-        cv::calcHist(&frame_gray,
-                     1,
-                     nullptr,
-                     cv::noArray(),
-                     hist,
-                     1,
-                     &hist_size,
-                     &ranges);
-
-        const f radius = threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value);
-
-        float const* const __restrict ptr = hist.ptr<float>(0);
-        const unsigned area = uround(3 * pi * radius*radius);
-        const unsigned sz = unsigned(hist.cols * hist.rows);
-        constexpr unsigned min_thres = 64;
-        unsigned thres = min_thres;
-        for (unsigned i = sz-1, cnt = 0; i > 32; i--)
-        {
-            cnt += (unsigned)ptr[i];
-            if (cnt >= area)
-                break;
-            thres = i;
-        }
-
-        cv::threshold(frame_gray, output, thres, 255, cv::THRESH_BINARY);
-    }
-}
-
-static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblobs, const cv::Size& size)
-{
-    for (unsigned k = 0; k < nblobs; k++)
-    {
-        const blob& b = blobs[k];
-
-        if (b.radius < 0)
-            continue;
-
-        const f dpi = preview_frame.cols / f(320);
-        const f offx = 10 * dpi, offy = f(7.5) * dpi;
-
-        const f cx = preview_frame.cols / f(size.width),
-                cy = preview_frame.rows / f(size.height),
-                c  = std::fmax(f(1), cx+cy)/2;
-
-        constexpr unsigned fract_bits = 8;
-        constexpr int c_fract(1 << fract_bits);
-
-        cv::Point p(iround(b.pos[0] * cx * c_fract), iround(b.pos[1] * cy * c_fract));
-
-        auto circle_color = k >= KPointCount
-                            ? cv::Scalar(192, 192, 192)
-                            : cv::Scalar(255, 255, 0);
-
-        const int overlay_size = iround(dpi);
-
-        cv::circle(preview_frame, p, iround((b.radius + f(3.3) * c) * c_fract),
-                   circle_color, overlay_size,
-                   cv::LINE_AA, fract_bits);
-
-        char buf[16];
-        buf[sizeof(buf)-1] = '\0';
-        std::snprintf(buf, sizeof(buf) - 1, "%.2fpx", (double)b.radius);
-
-        auto text_color = k >= KPointCount
-                          ? cv::Scalar(160, 160, 160)
-                          : cv::Scalar(0, 0, 255);
-
-        cv::Point pos(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy));
-        cv::putText(preview_frame, buf, pos,
-                    cv::FONT_HERSHEY_PLAIN, overlay_size, text_color,
-                    1);
-    }
-}
-
-void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
-{
-
-    ensure_buffers(frame);
-    if (frame.channels() != 1)
-    {
-        color_to_grayscale(frame, frame_gray_unmasked);
-    }
-    else
-    {
-        frame_gray_unmasked = frame;
-    }
-    
-
-#if defined PREVIEW
-    cv::imshow("capture", frame_gray);
-    cv::waitKey(1);
-#endif
-
-    threshold_image(frame_gray_unmasked, frame_bin);
-    frame_gray_unmasked.copyTo(frame_gray, frame_bin);
-
-    const f region_size_min = (f)s.min_point_size;
-    const f region_size_max = (f)s.max_point_size;
-
-    unsigned idx = 0;
-
-    blobs.clear();
-
-    for (int y=0; y < frame_bin.rows; y++)
-    {
-        const unsigned char* __restrict ptr_bin = frame_bin.ptr(y);
-        for (int x=0; x < frame_bin.cols; x++)
-        {
-            if (ptr_bin[x] != 255)
-                continue;
-            idx = blobs.size() + 1;
-
-            cv::Rect rect;
-            cv::floodFill(frame_bin,
-                          cv::Point(x,y),
-                          cv::Scalar(idx),
-                          &rect,
-                          cv::Scalar(0),
-                          cv::Scalar(0),
-                          4 | cv::FLOODFILL_FIXED_RANGE);
-
-            unsigned cnt = 0;
-            unsigned norm = 0;
-
-            const int ymax = rect.y+rect.height,
-                      xmax = rect.x+rect.width;
-
-            for (int i=rect.y; i < ymax; i++)
-            {
-                unsigned char const* const __restrict ptr_blobs = frame_bin.ptr(i);
-                unsigned char const* const __restrict ptr_gray = frame_gray.ptr(i);
-                for (int j=rect.x; j < xmax; j++)
-                {
-                    if (ptr_blobs[j] != idx)
-                        continue;
-
-                    //ptr_blobs[j] = 0;
-                    norm += ptr_gray[j];
-                    cnt++;
-                }
-            }
-
-            const f radius = std::sqrt(cnt / pi);
-            if (radius > region_size_max || radius < region_size_min)
-                continue;
-
-            blobs.emplace_back(radius,
-                               vec2(rect.width/f(2), rect.height/f(2)),
-                               std::pow(f(norm), f(1.1))/cnt,
-                               rect);
-
-            if (idx >= max_blobs)
-                goto end;
-
-            // XXX we could go to the next scanline unless the points are really small.
-            // i'd expect each point being present on at least one unique scanline
-            // but it turns out some people are using 2px points -sh 20180110
-            //break;
-        }
-    }
-end:
-
-    const int W = frame_gray.cols;
-    const int H = frame_gray.rows;
-
-    const unsigned sz = blobs.size();
-
-    std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.brightness < b1.brightness; });
-
-    for (idx = 0; idx < sz; ++idx)
-    {
-        blob& b = blobs[idx];
-        cv::Rect rect = b.rect;
-
-        rect.x -= rect.width / 2;
-        rect.y -= rect.height / 2;
-        rect.width *= 2;
-        rect.height *= 2;
-        rect &= cv::Rect(0, 0, W, H);  // crop at frame boundaries
-
-        cv::Mat frame_roi = frame_gray(rect);
-
-        // smaller values mean more changes. 1 makes too many changes while 1.5 makes about .1
-        static constexpr f radius_c = f(1.75);
-
-        const f kernel_radius = b.radius * radius_c;
-        vec2 pos(rect.width/f(2), rect.height/f(2)); // position relative to ROI.
-
-        for (int iter = 0; iter < 10; ++iter)
-        {
-            vec2 com_new = MeanShiftIteration(frame_roi, pos, kernel_radius);
-            vec2 delta = com_new - pos;
-            pos = com_new;
-            if (delta.dot(delta) < f(1e-3))
-                break;
-        }
-
-        b.pos[0] = pos[0] + rect.x;
-        b.pos[1] = pos[1] + rect.y;
-    }
-
-    // TODO: Do not do that if no preview. Delay blob drawing until we know where are the points?
-    draw_blobs(preview_frame_,
-               blobs.data(), blobs.size(),
-               frame_gray.size());
-
-
-    // End of mean shift code. At this point, blob positions are updated with hopefully less noisy less biased values.
-    points.reserve(max_blobs);
-    points.clear();
-
-    for (const auto& b : blobs)
-    {
-        // note: H/W is equal to fx/fy
-
-        vec2 p;
-        std::tie(p[0], p[1]) = Coordinates::to_screen_pos(b.pos[0], b.pos[1], W, H);
-        points.push_back(p);
-        imagePoints.push_back(vec2(b.pos[0], b.pos[1]));
-    }
-}
-
-blob::blob(f radius, const vec2& pos, f brightness, const cv::Rect& rect) :
-    radius(radius), brightness(brightness), pos(pos), rect(rect)
-{
-    //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1];
-}
-
-} // ns pt_module