diff options
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 107 |
1 files changed, 25 insertions, 82 deletions
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index 2c39c2e2..5f7f6829 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -30,9 +30,6 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) frame_last = cv::Mat(); } - // clear old points - points.clear(); - // convert to grayscale Mat frame_gray; cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY); @@ -78,88 +75,34 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) unsigned int region_size_min = 3.14*min_size*min_size/4.0; unsigned int region_size_max = 3.14*max_size*max_size/4.0; - - int blob_index = 1; - for (int y=0; y<H; y++) - { - if (blob_index >= 255) break; - for (int x=0; x<W; x++) - { - if (blob_index >= 255) break; - - // find connected components with floodfill - if (frame_bin.at<unsigned char>(y,x) != 255) continue; - Rect rect; - - floodFill(frame_bin, Point(x,y), Scalar(blob_index), &rect, Scalar(0), Scalar(0), FLOODFILL_FIXED_RANGE); - blob_index++; - - // calculate the size of the connected component - unsigned int region_size = 0; - for (int i=rect.y; i < (rect.y+rect.height); i++) - { - for (int j=rect.x; j < (rect.x+rect.width); j++) - { - if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue; - region_size++; - } - } - - if (region_size < region_size_min || region_size > region_size_max) continue; - - // calculate the center of mass: - // mx = (sum_ij j*f(frame_grey_ij)) / (sum_ij f(frame_grey_ij)) - // my = ... - // f maps from [threshold,256] -> [0, 1], lower values are mapped to 0 - float m = 0; - float mx = 0; - float my = 0; - for (int i=rect.y; i < (rect.y+rect.height); i++) - { - for (int j=rect.x; j < (rect.x+rect.width); j++) - { - if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue; - float val; - - if(secondary==0){ - val = frame_gray.at<unsigned char>(i,j); - val = float(val - primary)/(256 - primary); - val = val*val; // makes it more stable (less emphasis on low values, more on the peak) - }else{ - //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture - val = frame_last.at<unsigned char>(i,j) / 256.; - } - - m += val; - mx += j * val; - my += i * val; - } - } - - // convert to centered camera coordinate system with y axis upwards - Vec2f c; - c[0] = (mx/m - W/2)/W; - c[1] = -(my/m - H/2)/W; - //qDebug()<<blob_index<<" => "<<c[0]<<" "<<c[1]; - points.push_back(c); - } - } + + std::vector<std::vector<cv::Point>> contours; + cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); + + // clear old points + points.clear(); + + for (auto& c : contours) + { + auto m = cv::moments(cv::Mat(c)); + const double area = m.m00; + if (area == 0.) + continue; + cv::Vec2f pos(m.m10 / m.m00, m.m01 / m.m00); + if (area < region_size_min || area > region_size_max) + continue; + pos[0] = (pos[0] - W/2)/W; + pos[1] = -(pos[1] - H/2)/W; + + points.push_back(pos); + } // draw output image vector<Mat> channels; - if(secondary==0){ - frame_bin.setTo(170, frame_bin); - channels.push_back(frame_gray + frame_bin); - channels.push_back(frame_gray - frame_bin); - channels.push_back(frame_gray - frame_bin); - }else{ - frame_bin_copy.setTo(120, frame_bin_copy); - //frame_bin_low.setTo(90, frame_bin_low); - channels.push_back(frame_gray + frame_bin_copy); - channels.push_back(frame_gray - frame_bin_copy); - channels.push_back(frame_gray - frame_bin_copy); - //channels.push_back(frame_gray + frame_bin); - } + frame_bin.setTo(170, frame_bin); + channels.push_back(frame_gray + frame_bin); + channels.push_back(frame_gray - frame_bin); + channels.push_back(frame_gray - frame_bin); merge(channels, frame); return points; |