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-rw-r--r--tracker-pt/point_extractor.cpp130
-rw-r--r--tracker-pt/point_extractor.h11
2 files changed, 71 insertions, 70 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index e3472391..23fe7a38 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -13,7 +13,11 @@
# include "opentrack-compat/timer.hpp"
#endif
+#include <opencv2/highgui.hpp>
+
#include <cmath>
+#include <algorithm>
+#include <cinttypes>
PointExtractor::PointExtractor()
{
@@ -21,9 +25,7 @@ PointExtractor::PointExtractor()
points.reserve(max_blobs);
}
-using vec2 = pt_types::vec2;
-
-const std::vector<vec2>& PointExtractor::extract_points(cv::Mat& frame)
+const std::vector<PointExtractor::vec2>& PointExtractor::extract_points(cv::Mat& frame)
{
const int W = frame.cols;
const int H = frame.rows;
@@ -31,7 +33,8 @@ const std::vector<vec2>& PointExtractor::extract_points(cv::Mat& 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_bin = cv::Mat(frame.rows, frame.cols, CV_8U);
+ frame_blobs = cv::Mat(frame.rows, frame.cols, CV_8U);
}
// convert to grayscale
@@ -40,14 +43,10 @@ const std::vector<vec2>& PointExtractor::extract_points(cv::Mat& frame)
const double region_size_min = s.min_point_size;
const double region_size_max = s.max_point_size;
- const int thres = s.threshold;
-
- contours.clear();
-
if (!s.auto_threshold)
{
+ const int thres = s.threshold;
cv::threshold(frame_gray, frame_bin, thres, 255, cv::THRESH_BINARY);
- cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
}
else
{
@@ -59,87 +58,90 @@ const std::vector<vec2>& PointExtractor::extract_points(cv::Mat& frame)
std::vector<float> { 0, 256 },
false);
const int sz = hist.cols * hist.rows;
- int val = 0;
+ int thres = s.threshold;
int cnt = 0;
- constexpr int min_pixels = int(10 * 10 * 3 * pi);
- const int pixels_to_include = std::max<int>(0, min_pixels * s.threshold * s.threshold / (256 * 256));
+ constexpr double min_pixels = 2 * 2 * 3 * pi;
+ constexpr double max_pixels = 7 * 7 * 3 * pi;
+ constexpr double range_pixels = max_pixels - min_pixels;
+ const int pixels_to_include = std::max<int>(0, int(min_pixels + range_pixels * s.threshold / 256));
auto ptr = reinterpret_cast<const float*>(hist.ptr(0));
- for (int i = sz-1; i >= 0; i--)
+ for (int i = sz-1; i > 0; i--)
{
cnt += ptr[i];
if (cnt >= pixels_to_include)
{
- val = i;
+ thres = i;
break;
}
}
//val *= 240./256.;
//qDebug() << "val" << val;
- cv::threshold(frame_gray, frame_bin, val, 255, CV_THRESH_BINARY);
- cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+ cv::threshold(frame_gray, frame_bin, thres, 255, CV_THRESH_BINARY);
}
blobs.clear();
+ frame_gray.copyTo(frame_blobs);
- for (auto& c : contours)
+ unsigned idx = 0;
+ for (int y=0; y < frame_gray.rows; y++)
{
- using std::fabs;
+ if (idx > max_blobs) break;
- const auto m = cv::moments(cv::Mat(c));
-
- if (fabs(m.m00) < 1e-3)
- continue;
-
- const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00);
-
- double radius;
-// following based on OpenCV SimpleBlobDetector
+ const unsigned char* ptr_bin = frame_bin.ptr(y);
+ for (int x=0; x < frame_gray.cols; x++)
{
- std::vector<double> dists;
- for (auto& k : c)
+ if (idx > max_blobs) break;
+
+ if (ptr_bin[x] != 255)
+ continue;
+ idx = blobs.size();
+ cv::Rect rect;
+ cv::floodFill(frame_blobs,
+ cv::Point(x,y),
+ cv::Scalar(idx),
+ &rect,
+ cv::Scalar(0),
+ cv::Scalar(0),
+ 4);
+ long m00 = 0;
+ long m10 = 0;
+ long m01 = 0;
+ long cnt = 0;
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
{
- dists.push_back(cv::norm(pos - cv::Vec2d(k.x, k.y)));
+ const unsigned char* ptr_blobs = frame_blobs.ptr(i);
+ const unsigned char* ptr_gray = frame_gray.ptr(i);
+ unsigned char* ptr_bin = frame_bin.ptr(i);
+ for (int j=rect.x; j < (rect.x+rect.width); j++)
+ {
+ if (ptr_blobs[j] != idx) continue;
+ ptr_bin[j] = 0;
+ const long val = ptr_gray[j];
+ m00 += val;
+ m01 += i * val;
+ m10 += j * val;
+ cnt++;
+ }
}
- std::sort(dists.begin(), dists.end());
- radius = (dists[(dists.size() - 1)/2] + dists[dists.size()/2])/2;
- }
-
- if (radius < region_size_min || radius > region_size_max)
- continue;
-
- double confid = 1;
- {
- double denominator = std::sqrt(std::pow(2 * m.mu11, 2) + std::pow(m.mu20 - m.mu02, 2));
- const double eps = 1e-2;
- if (denominator > eps)
+ if (m00 > 0)
{
- double cosmin = (m.mu20 - m.mu02) / denominator;
- double sinmin = 2 * m.mu11 / denominator;
- double cosmax = -cosmin;
- double sinmax = -sinmin;
-
- double imin = 0.5 * (m.mu20 + m.mu02) - 0.5 * (m.mu20 - m.mu02) * cosmin - m.mu11 * sinmin;
- double imax = 0.5 * (m.mu20 + m.mu02) - 0.5 * (m.mu20 - m.mu02) * cosmax - m.mu11 * sinmax;
- confid = imin / imax;
+ const double radius = std::sqrt(cnt / pi);
+ if (radius > region_size_max || radius < region_size_min)
+ continue;
+ const double norm = double(m00);
+ blob b(radius, cv::Vec2d(m10 / norm, m01 / norm));
+ blobs.push_back(b);
+ {
+ char buf[64];
+ sprintf(buf, "%.2fpx", radius);
+ cv::putText(frame, buf, cv::Point(b.pos[0]+30, b.pos[1]+20), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(0, 0, 255), 1);
+ }
}
}
-// end SimpleBlobDetector
-
- {
- char buf[64];
- sprintf(buf, "%.2fpx %.2fc", radius, confid);
- cv::putText(frame, buf, cv::Point(pos[0]+30, pos[1]+20), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(0, 0, 255), 1);
- }
-
- blobs.push_back(blob(radius, pos, confid));
-
- if (blobs.size() == max_blobs)
- break;
}
- using b = const blob;
- std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
+ std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.radius < b1.radius; });
QMutexLocker l(&mtx);
points.clear();
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index 16740b91..478418e6 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -37,22 +37,21 @@ private:
cv::Mat frame_gray;
cv::Mat frame_bin;
cv::Mat hist;
+ cv::Mat frame_blobs;
- enum { max_blobs = 16 };
+ static constexpr int max_blobs = 16;
struct blob
{
double radius;
- cv::Vec2d pos;
- double confid;
- blob(double radius, const cv::Vec2d& pos, double confid) : radius(radius), pos(pos), confid(confid)
+ vec2 pos;
+ blob(double radius, const cv::Vec2d& pos) : radius(radius), pos(pos)
{
- //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1] << "confid" << confid;
+ //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1];
}
};
std::vector<blob> blobs;
- std::vector<std::vector<cv::Point>> contours;
};
#endif //POINTEXTRACTOR_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-10-01 17:29:31 +0000