diff options
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 128 |
1 files changed, 66 insertions, 62 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp index e68aa132..4c4e269f 100644 --- a/tracker-pt/point_extractor.cpp +++ b/tracker-pt/point_extractor.cpp @@ -230,9 +230,9 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat& output) } else { - int hist_size = 256; - float ranges_[] = { 0, 256 }; - float const* ranges = (float*) ranges_; + static const int hist_size = 256; + static const float ranges_[] = { 0, 256 }; + static float const* ranges = (const float*) ranges_; cv::calcHist(&frame_gray, 1, @@ -245,7 +245,7 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat& output) const f radius = (f) threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value); - float const* restrict_ptr ptr = reinterpret_cast<float const* restrict_ptr>(hist.ptr(0)); + auto ptr = (float const* restrict_ptr) hist.ptr(0); const unsigned area = uround(3 * M_PI * radius*radius); const unsigned sz = unsigned(hist.cols * hist.rows); unsigned thres = 32; @@ -311,83 +311,50 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame &rect, cv::Scalar(0), cv::Scalar(0), - 8); + 4 | cv::FLOODFILL_FIXED_RANGE); - // these are doubles since m10 and m01 could overflow theoretically - // log2(255^2 * 640^2 * pi) > 36 - double m10 = 0; - double m01 = 0; - // norm can't overflow since there's no 640^2 component - int norm = 0; - int cnt = 0; + unsigned cnt = 0; + unsigned norm = 0; - for (int i=rect.y; i < (rect.y+rect.height); i++) + const int ymax = rect.y+rect.height, + xmax = rect.x+rect.width; + + for (int i=rect.y; i < ymax; i++) { - unsigned char* ptr_blobs = frame_blobs.ptr(i); - const unsigned char* ptr_gray = frame_gray.ptr(i); - for (int j=rect.x; j < (rect.x+rect.width); j++) + unsigned char* restrict_ptr ptr_blobs = frame_blobs.ptr(i); + unsigned char const* restrict_ptr ptr_gray = frame_gray.ptr(i); + for (int j=rect.x; j < xmax; j++) { if (ptr_blobs[j] != idx) continue; - ptr_blobs[j] = 0; - - // square as a weight gives better results - const int val(int(ptr_gray[j]) * int(ptr_gray[j])); - - norm += val; - m01 += i * val; - m10 += j * val; + //ptr_blobs[j] = 0; + norm += ptr_gray[j]; cnt++; } } - if (norm > 0) - { - const double radius = std::sqrt(cnt / M_PI), N = double(norm); - if (radius > region_size_max || radius < region_size_min) - continue; - - blob b(radius, cv::Vec2d(m10 / N, m01 / N), N/std::sqrt(double(cnt)), rect); - blobs.push_back(b); - - { - static const f offx = 10, offy = 7.5; - const f cx = preview_frame.cols / f(frame.cols), - cy = preview_frame.rows / f(frame.rows), - c_ = (cx+cy)/2; - - static constexpr unsigned fract_bits = 16; - static constexpr double c_fract(1 << fract_bits); - cv::Point p(iround(b.pos[0] * cx * c_fract), iround(b.pos[1] * cy * c_fract)); - - cv::circle(preview_frame, p, iround((b.radius + 2) * c_ * c_fract), cv::Scalar(255, 255, 0), 1, cv::LINE_AA, fract_bits); - - char buf[16]; - std::snprintf(buf, sizeof(buf), "%.2fpx", radius); - buf[sizeof(buf)-1] = '\0'; + const double radius = std::sqrt(cnt / M_PI); + if (radius > region_size_max || radius < region_size_min) + continue; - cv::putText(preview_frame, - buf, - cv::Point(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy)), - cv::FONT_HERSHEY_PLAIN, - 1, - cv::Scalar(0, 0, 255), - 1); - } + blob b(radius, vec2(rect.width/2., rect.height/2.), norm/cnt, rect); + blobs.push_back(b); - if (idx >= max_blobs) goto end; - } + if (idx >= max_blobs) + goto end; } } end: - std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { 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) + 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; @@ -405,7 +372,7 @@ end: static constexpr f radius_c = f(1.75); const f kernel_radius = b.radius * radius_c; - vec2 pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI. + vec2 pos(rect.width/2., rect.height/2.); // position relative to ROI. for (int iter = 0; iter < 10; ++iter) { @@ -420,6 +387,43 @@ end: b.pos[1] = pos[1] + rect.y; } + for (unsigned k = 0; k < blobs.size(); k++) + { + blob& b = blobs[k]; + + static const f offx = 10, offy = 7.5; + const f cx = preview_frame.cols / f(frame.cols), + cy = preview_frame.rows / f(frame.rows), + c_ = (cx+cy)/2; + + static constexpr unsigned fract_bits = 16; + static constexpr double 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 >= PointModel::N_POINTS + ? cv::Scalar(192, 192, 192) + : cv::Scalar(255, 255, 0); + + cv::circle(preview_frame, p, iround((b.radius + 3.3) * c_ * c_fract), circle_color, 1, cv::LINE_AA, fract_bits); + + char buf[16]; + std::snprintf(buf, sizeof(buf), "%.2fpx", b.radius); + buf[sizeof(buf)-1] = '\0'; + + auto text_color = k >= PointModel::N_POINTS + ? cv::Scalar(160, 160, 160) + : cv::Scalar(0, 0, 255); + + cv::putText(preview_frame, + buf, + cv::Point(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy)), + cv::FONT_HERSHEY_PLAIN, + 1, + text_color, + 1); + } + // 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(); |