diff options
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 54 |
1 files changed, 43 insertions, 11 deletions
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index 86454729..71023a38 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -8,6 +8,9 @@ #include "point_extractor.h" #include <QDebug> +#ifdef DEBUG_EXTRACTION +# include "opentrack/timer.hpp" +#endif using namespace cv; using namespace std; @@ -39,15 +42,15 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) // that's applicable to poor lighting conditions. static constexpr int diff = 20; - static constexpr int steps = 10; - static constexpr int successes = 8; + static constexpr int steps = 5; + static constexpr int successes = 5; int thres = s.threshold; struct blob { - double max_radius; std::vector<cv::Vec2d> pos; std::vector<double> confids; + std::vector<double> areas; cv::Vec2d effective_pos() const { @@ -56,13 +59,13 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) double norm = 0; for (unsigned i = 0; i < pos.size(); i++) { - x += pos[i][0] * confids[i]; - y += pos[i][1] * confids[i]; - norm += confids[i]; + const double w = confids[i] * areas[i]; + x += pos[i][0] * w; + y += pos[i][1] * w; + norm += w; } cv::Vec2d ret(x, y); ret *= 1./norm; - //qDebug() << "ret" << ret[0] << ret[1] << "norm" << norm << "count" << pos.size(); return ret; } }; @@ -73,7 +76,8 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) cv::Vec2d pos; double confid; bool taken; - simple_blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid), taken(false) + double area; + simple_blob(double radius, const cv::Vec2d& pos, double confid, double area) : radius(radius), pos(pos), confid(confid), taken(false), area(area) { //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid; } @@ -85,6 +89,12 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) } static std::vector<blob> merge(std::vector<simple_blob>& blobs) { +#ifdef DEBUG_EXTRACTION + static Timer t; + bool debug = t.elapsed_ms() > 100; + if (debug) t.start(); +#endif + std::vector<blob> ret; for (unsigned i = 0; i < blobs.size(); i++) { @@ -95,7 +105,7 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) blob b_; b_.pos.push_back(b.pos); b_.confids.push_back(b.confid); - b_.max_radius = b.radius; + b_.areas.push_back(b.area); for (unsigned j = i+1; j < blobs.size(); j++) { @@ -107,12 +117,29 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) b2.taken = true; b_.pos.push_back(b2.pos); b_.confids.push_back(b2.confid); - b_.max_radius = std::max(b_.max_radius, b2.radius); + b_.areas.push_back(b2.area); } } if (b_.pos.size() >= successes) ret.push_back(b_); } +#ifdef DEBUG_EXTRACTION + if (debug) + { + double diff = 0; + for (unsigned j = 0; j < ret.size(); j++) + { + auto& b = ret[j]; + cv::Vec2d pos = b.effective_pos(); + for (unsigned i = 0; i < b.pos.size(); i++) + { + auto tmp = pos - b.pos[i]; + diff += std::abs(tmp.dot(tmp)); + } + } + qDebug() << "diff" << diff; + } +#endif return ret; } }; @@ -136,8 +163,13 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) std::vector<std::vector<cv::Point>> contours; cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); + int cnt = 0; + for (auto& c : contours) { + if (cnt++ > 30) + break; + auto m = cv::moments(cv::Mat(c)); const double area = m.m00; if (area == 0.) @@ -170,7 +202,7 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) confid = imin / imax; } } - blobs.push_back(simple_blob(radius, pos, confid)); + blobs.push_back(simple_blob(radius, pos, confid, area)); } } |