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-rw-r--r--tracker-pt/point_extractor.cpp43
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();