diff options
Diffstat (limited to 'ftnoir_tracker_pt/point_extractor.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 40 |
1 files changed, 18 insertions, 22 deletions
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp index e81e3aa0..4791dcc2 100644 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ b/ftnoir_tracker_pt/point_extractor.cpp @@ -12,10 +12,6 @@ # include "opentrack/timer.hpp" #endif -using namespace cv; -using namespace std; - - PointExtractor::PointExtractor(){ //if (!AllocConsole()){} //else SetConsoleTitle("debug"); @@ -23,20 +19,20 @@ PointExtractor::PointExtractor(){ //freopen("CON", "w", stderr); } // ---------------------------------------------------------------------------- -std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) +std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame) { - const int W = frame.cols; - const int H = frame.rows; + const int W = frame.cols; + const int H = frame.rows; + + // convert to grayscale + cv::Mat frame_gray; + cv::cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY); - // convert to grayscale - Mat frame_gray; - cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY); - int min_size = s.min_point_size; int max_size = s.max_point_size; - 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; + 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; // testing indicates threshold difference of 45 from lowest to highest // that's applicable to poor lighting conditions. @@ -144,7 +140,7 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) }; // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) - Mat frame_bin = cv::Mat::zeros(H, W, CV_8U); + cv::Mat frame_bin = cv::Mat::zeros(H, W, CV_8U); const int min = std::max(0, thres - diff/2); const int max = std::min(255, thres + diff/2); @@ -155,8 +151,8 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) // this code is based on OpenCV SimpleBlobDetector for (int i = min; i < max; i += step) { - Mat frame_bin_; - threshold(frame_gray, frame_bin_, i, 255, THRESH_BINARY); + cv::Mat frame_bin_; + cv::threshold(frame_gray, frame_bin_, i, 255, cv::THRESH_BINARY); frame_bin.setTo(170, frame_bin_); std::vector<std::vector<cv::Point>> contours; @@ -211,19 +207,19 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame) for (auto& b : simple_blob::merge(blobs)) { auto pos = b.effective_pos(); - Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W); + cv::Vec2f p((pos[0] - W/2)/W, -(pos[1] - H/2)/W); points.push_back(p); } - vector<Mat> channels_; + std::vector<cv::Mat> channels_; cv::split(frame, channels_); // draw output image - Mat frame_bin_ = frame_bin * .5; - vector<Mat> channels; + cv::Mat frame_bin_ = frame_bin * .5; + std::vector<cv::Mat> channels; channels.push_back(channels_[0] + frame_bin_); channels.push_back(channels_[1] - frame_bin_); channels.push_back(channels_[2] - frame_bin_); - merge(channels, frame); + cv::merge(channels, frame); - return points; + return points; } |