diff options
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 43 |
1 files changed, 14 insertions, 29 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp index 11818334..94f887d8 100644 --- a/tracker-pt/point_extractor.cpp +++ b/tracker-pt/point_extractor.cpp @@ -17,10 +17,13 @@ #include <algorithm> #include <cinttypes> -#include <QDebug> - using namespace types; +using std::sqrt; +using std::fmax; +using std::round; +using std::min; + /* http://en.wikipedia.org/wiki/Mean-shift In this application the idea, is to eliminate any bias of the point estimate @@ -54,7 +57,7 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const cv::Vec2d & { double dx = (j - current_center[0])*s; double dy = (i - current_center[1])*s; - double f = std::fmax(0.0, 1.0 - dx*dx - dy*dy); + double f = fmax(0.0, 1.0 - dx*dx - dy*dy); val *= f; } m += val; @@ -62,7 +65,7 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const cv::Vec2d & com[1] += i * val; } } - if (m > 0.1) + if (m > .1) { com *= 1.0 / m; return com; @@ -78,11 +81,6 @@ PointExtractor::PointExtractor() void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points) { - using std::sqrt; - using std::fmax; - using std::round; - using std::sort; - if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols) { frame_gray = cv::Mat(frame.rows, frame.cols, CV_8U); @@ -200,22 +198,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame c_ = (cx+cy)/2; cv::Point p(iround(b.pos[0] * cx), iround(b.pos[1] * cy)); - static const cv::Scalar color(0, 255, 0); - - { - const int len = iround(b.radius * 1.25 * c_) + 1; - cv::line(preview_frame, - cv::Point(p.x - len, p.y), - cv::Point(p.x + len, p.y), - color); - cv::line(preview_frame, - cv::Point(p.x, p.y - len), - cv::Point(p.x, p.y + len), - color); - } + cv::circle(preview_frame, p, int(b.radius * c_ + 2.5), cv::Scalar(255, 255, 0), 1, cv::LINE_AA); + cv::circle(preview_frame, p, 1, cv::Scalar(255, 255, 64), -1, cv::LINE_AA); char buf[64]; - sprintf(buf, "%.2fpx", radius); + sprintf(buf, "%.1fpx", radius); cv::putText(preview_frame, buf, @@ -232,12 +219,12 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame } end: - sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.brightness < b1.brightness; }); + std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.brightness < b1.brightness; }); const int W = frame.cols; const int H = frame.rows; - for (idx = 0; idx < std::min(PointModel::N_POINTS, unsigned(blobs.size())); ++idx) + for (idx = 0; idx < min(PointModel::N_POINTS, unsigned(blobs.size())); ++idx) { blob &b = blobs[idx]; cv::Rect rect = b.rect; @@ -250,9 +237,7 @@ end: cv::Mat frame_roi = frame_gray(rect); - // smaller values mean more changes. 1 makes too many changes while 1.5 makes about .1 - // seems values close to 1.3 reduce noise best with about .15->.2 changes - static constexpr double radius_c = 1.3; + static constexpr double radius_c = 1.5; const double kernel_radius = b.radius * radius_c; cv::Vec2d pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI. @@ -270,7 +255,7 @@ end: b.pos[1] = pos[1] + rect.y; } - // End of mean shift code. At this point, blob positions are updated which hopefully less noisy less biased values. + // 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(); |