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authorStanislaw Halik <sthalik@misaki.pl>2016-03-06 09:11:19 +0100
committerStanislaw Halik <sthalik@misaki.pl>2016-03-07 00:35:36 +0100
commit99fb0282ba5cdfdb2b889df8916b36207d21ded0 (patch)
tree2281ba7bf6dd94e2e5ddfab94c7bc12873df4776 /tracker-pt
parent68132ca8a66d5757bc42aebeb64a9e2bea53f5ac (diff)
tracker/pt: less malloc/free each frame
Diffstat (limited to 'tracker-pt')
-rw-r--r--tracker-pt/point_extractor.cpp29
-rw-r--r--tracker-pt/point_extractor.h19
2 files changed, 24 insertions, 24 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index da05feb3..a1294c1e 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -15,6 +15,8 @@
PointExtractor::PointExtractor()
{
+ blobs.reserve(max_blobs);
+ points.reserve(max_blobs);
}
const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
@@ -34,23 +36,10 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
const double region_size_min = s.min_point_size;
const double region_size_max = s.max_point_size;
- struct blob
- {
- double radius;
- cv::Vec2d pos;
- double confid;
- blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid)
- {
- //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
- }
- };
-
- // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
-
- std::vector<blob> blobs;
- std::vector<std::vector<cv::Point>> contours;
-
const int thres = s.threshold;
+
+ contours.clear();
+
if (!s.auto_threshold)
{
cv::threshold(frame_gray, frame_bin, thres, 255, cv::THRESH_BINARY);
@@ -88,13 +77,10 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
}
- int cnt = 0;
+ blobs.clear();
for (auto& c : contours)
{
- if (cnt++ > 30)
- break;
-
const auto m = cv::moments(cv::Mat(c));
const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00);
@@ -139,8 +125,6 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
blobs.push_back(blob(radius, pos, confid));
- enum { max_blobs = 16 };
-
if (blobs.size() == max_blobs)
break;
}
@@ -149,7 +133,6 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
QMutexLocker l(&mtx);
- points.reserve(blobs.size());
points.clear();
for (auto& b : blobs)
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index ab51762d..3e4661f9 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -12,9 +12,10 @@
#include <opencv2/imgproc/imgproc.hpp>
#include "ftnoir_tracker_pt_settings.h"
-
#include <QMutex>
+#include <vector>
+
class PointExtractor
{
public:
@@ -33,6 +34,22 @@ private:
cv::Mat frame_gray;
cv::Mat frame_bin;
cv::Mat hist;
+
+ enum { max_blobs = 16 };
+
+ struct blob
+ {
+ double radius;
+ cv::Vec2d pos;
+ double confid;
+ blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid)
+ {
+ //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
+ }
+ };
+
+ std::vector<blob> blobs;
+ std::vector<std::vector<cv::Point>> contours;
};
#endif //POINTEXTRACTOR_H