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-rw-r--r--tracker-pt/point_extractor.cpp72
-rw-r--r--tracker-pt/point_extractor.h6
2 files changed, 54 insertions, 24 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 29f68bdb..3266d889 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -21,6 +21,12 @@
#include <vector>
#include <array>
+//#define DEBUG_CONTOURS
+
+#if defined DEBUG_CONTOURS
+# include <opencv2/highgui.hpp>
+#endif
+
using namespace pt_extractor_impl;
constexpr int PointExtractor::max_blobs;
@@ -43,6 +49,8 @@ algorithm for tracking single particles with variable size and shape." (2008).
*/
static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &current_center, f filter_width, f& m_)
{
+ m_ = 0;
+
// Most amazingling this function runs faster with doubles than with floats.
const f s = 1 / filter_width;
@@ -50,25 +58,24 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre
vec2 com(0, 0);
for (int i = 0; i < frame_gray.rows; i++)
{
- const auto frame_ptr = (const uint8_t*)frame_gray.ptr(i);
+ const auto frame_ptr = (const uint8_t* restrict)frame_gray.ptr(i);
for (int j = 0; j < frame_gray.cols; j++)
{
f val = frame_ptr[j];
+ m_ += val;
val = val * val; // taking the square wights brighter parts of the image stronger.
+ m += val;
{
f dx = (j - current_center[0])*s;
f dy = (i - current_center[1])*s;
f f = fmax(0.0, 1 - dx*dx - dy*dy);
val *= f;
}
- m += val;
com[0] += j * val;
com[1] += i * val;
}
}
- m_ = m;
-
if (m > f(.1))
{
com *= 1 / m;
@@ -87,9 +94,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
{
if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
{
- frame_gray = cv::Mat(frame.rows, frame.cols, CV_8U);
- frame_bin = cv::Mat(frame.rows, frame.cols, CV_8U);
- //frame_blobs = cv::Mat(frame.rows, frame.cols, CV_8U);
+ frame_gray = cv::Mat1b(frame.rows, frame.cols);
+ frame_bin = cv::Mat1b(frame.rows, frame.cols);
+
+ for (unsigned k = 0; k < max_blobs; k++)
+ contour_masks[k] = cv::Mat1b(frame.rows, frame.cols);
}
cv::cvtColor(frame, frame_gray, cv::COLOR_BGR2GRAY);
@@ -125,7 +134,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
unsigned thres = 255;
unsigned accum = 0;
- for (unsigned k = 255; k != 0; k--)
+ for (unsigned k = 255; k != 16; k--)
{
accum += ptr[k];
if (accum >= area)
@@ -140,12 +149,12 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
blobs.clear();
+ contours.clear();
+
// -----
// start code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp
// -----
- contours.clear();
-
cv::findContours(frame_bin, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE);
const unsigned cnt = min(max_blobs, int(contours.size()));
@@ -157,6 +166,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
cv::Moments moments = cv::moments(contours[k]);
const double area = moments.m00;
+
+// -----
+// end of code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp
+// -----
+
const double radius = sqrt(area) / sqrt(M_PI);
if (radius < fmax(2.5, region_size_min) || (radius > region_size_max))
@@ -172,12 +186,24 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
if (!cv::Point2d(center).inside(cv::Rect2d(rect)))
continue;
- blob b(radius, center, 0, rect);
- blobs.push_back(b);
+ contour_masks[k].setTo(0);
-// -----
-// end of code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp
-// -----
+ cv::drawContours(contour_masks[k], contours, k,
+ cv::Scalar(255, 255, 255), cv::FILLED,
+ cv::LINE_4);
+
+ contour_masks[k] = frame_gray & contour_masks[k];
+
+#if defined DEBUG_CONTOURS
+ if (blobs.size() == 0)
+ {
+ cv::imshow("mask", contour_masks[k]);
+ cv::waitKey(1);
+ }
+#endif
+
+ blob b(radius, center, 0, rect, k);
+ blobs.push_back(b);
static const f offx = 10, offy = 7.5;
const f cx = preview_frame.cols / f(frame.cols),
@@ -211,12 +237,14 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
double meanshift_total = 0;
#endif
- for (unsigned k = 0; k < min(PointModel::N_POINTS, unsigned(blobs.size())); ++k)
+ for (unsigned k = 0; k < unsigned(blobs.size()); ++k)
{
blob &b = blobs[k];
const cv::Rect rect = b.rect;
- cv::Mat frame_roi = frame_gray(rect);
+ const unsigned idx = b.idx;
+
+ cv::Mat frame_roi = contour_masks[idx](rect);
static constexpr f radius_c = 1.75;
@@ -237,7 +265,9 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
break;
}
- b.value = norm / sqrt(b.radius);
+ const f area = f(M_PI) * b.radius * b.radius;
+ // note that sqrt isn't derived from anything. we just want bigger points.
+ b.value = norm / sqrt(area);
#if defined DEBUG_MEANSHIFT
meanshift_total += sqrt((pos_ - pos).dot(pos_ - pos));
@@ -254,7 +284,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
qDebug() << "meanshift adjust total" << meanshift_total;
#endif
- std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.value < b1.value; });
+ std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b1.value > b2.value; });
// End of mean shift code. At this point, blob positions are updated with hopefully less noisy, less biased values.
points.reserve(max_blobs);
@@ -269,8 +299,8 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
}
}
-blob::blob(double radius, const cv::Vec2d& pos, double brightness, const cv::Rect& rect) :
- radius(radius), value(brightness), pos(pos), rect(rect)
+blob::blob(double radius, const cv::Vec2d& pos, double brightness, const cv::Rect& rect, unsigned idx) :
+ radius(radius), value(brightness), pos(pos), rect(rect), idx(idx)
{
//qDebug() << "radius" << radius << "pos" << pos[0] << pos[1];
}
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index ac632b74..1016977c 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -28,8 +28,9 @@ struct blob
double radius, value;
vec2 pos;
cv::Rect rect;
+ unsigned idx;
- blob(double radius, const cv::Vec2d& pos, double value, const cv::Rect &rect);
+ blob(double radius, const cv::Vec2d& pos, double value, const cv::Rect &rect, unsigned idx);
};
class PointExtractor final
@@ -45,12 +46,11 @@ private:
static constexpr int max_blobs = 16;
cv::Mat1b frame_bin, frame_gray;
- //cv::Mat1b frame_blobs;
+ cv::Mat1b contour_masks[max_blobs];
cv::Mat1f hist;
std::vector<blob> blobs;
std::vector<std::vector<cv::Point>> contours;
- //std::vector<cv::Point> hull;
};
} // ns pt_extractor_impl
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