Revert "tracker/pt: experimental non-white color removal"

This reverts commit 546cfb5ad52dcfe1421d1af5e7baeada588ac735.

@MathijsG points out that some users have red LEDs, not uniform white.
Issue: #355

2 files changed, 3 insertions, 69 deletions

diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index be1cd59c..96c70d11 100755
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -13,76 +13,17 @@
 #   include "opentrack-compat/timer.hpp"
 #endif
 
-//#define DEBUG_SUM_OF_SQUARES
-#ifdef DEBUG_SUM_OF_SQUARES
-#   define SUM_OF_SQUARES_WINNAME "sum-of-squares-debug"
-#   include <opencv2/highgui.hpp>
-#endif
-
 PointExtractor::PointExtractor()
 {
-#ifdef DEBUG_SUM_OF_SQUARES
-    cv::namedWindow(SUM_OF_SQUARES_WINNAME);
-#endif
     blobs.reserve(max_blobs);
     points.reserve(max_blobs);
 }
 
-PointExtractor::~PointExtractor()
-{
-#ifdef DEBUG_SUM_OF_SQUARES
-    cv::destroyWindow(SUM_OF_SQUARES_WINNAME);
-#endif
-}
-
-void PointExtractor::gray_square_diff(const cv::Mat &frame, cv::Mat &frame_gray)
-{
-    const unsigned nchans = frame.channels();
-    const int rows = frame.rows;
-    const int cols = frame.cols;
-    cv::cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
-
-    if (nchans == 1 || !s.auto_threshold)
-        return;
-
-    cv::split(frame, gray_split_channels);
-
-    if (nchans > gray_absdiff_channels.size())
-        gray_absdiff_channels.resize(nchans);
-
-    for (unsigned i = 0; i < nchans; i++)
-        cv::absdiff(frame_gray, gray_split_channels[i], gray_absdiff_channels[i]);
-
-    if (frame_gray_tmp.rows != rows || frame_gray_tmp.cols != cols)
-        frame_gray_tmp = cv::Mat(rows, cols, CV_32FC1);
-
-    frame_gray.convertTo(frame_gray_tmp, CV_32FC1);
-
-    constexpr float scale = .9;
-
-    if (float_absdiff_channel.cols != cols || float_absdiff_channel.rows != rows)
-        float_absdiff_channel = cv::Mat(rows, cols, CV_32FC1);
-
-    for (unsigned i = 0; i < nchans; i++)
-    {
-        gray_absdiff_channels[i].convertTo(float_absdiff_channel, CV_32FC1);
-
-        frame_gray_tmp -= float_absdiff_channel.mul(float_absdiff_channel, scale);
-    }
-
-    frame_gray_tmp.convertTo(frame_gray, CV_8UC1);
-
-#ifdef DEBUG_SUM_OF_SQUARES
-    cv::imshow(SUM_OF_SQUARES_WINNAME, frame_gray);
-    cv::waitKey(1);
-#endif
-}
-
 const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
 {
     const int W = frame.cols;
     const int H = frame.rows;
-    
+
     if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
     {
         frame_gray = cv::Mat(frame.rows, frame.cols, CV_8U);
@@ -90,11 +31,11 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
     }
 
     // convert to grayscale
-    gray_square_diff(frame, frame_gray);
+    cv::cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
 
     const double region_size_min = s.min_point_size;
     const double region_size_max = s.max_point_size;
-    
+
     const int thres = s.threshold;
 
     contours.clear();
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 5a3630be..3e4661f9 100755..100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -25,22 +25,15 @@ public:
     const std::vector<cv::Vec2f> &extract_points(cv::Mat &frame);
     int get_n_points() { QMutexLocker l(&mtx); return points.size(); }
     PointExtractor();
-    ~PointExtractor();
     
     settings_pt s;
 private:
-    void gray_square_diff(const cv::Mat& frame, cv::Mat& frame_gray);
-
     enum { hist_c = 2 };
     std::vector<cv::Vec2f> points;
     QMutex mtx;
     cv::Mat frame_gray;
-    cv::Mat frame_gray_tmp;
     cv::Mat frame_bin;
     cv::Mat hist;
-    std::vector<cv::Mat> gray_split_channels;
-    std::vector<cv::Mat> gray_absdiff_channels;
-    cv::Mat float_absdiff_channel;
 
     enum { max_blobs = 16 };