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Diffstat (limited to 'ftnoir_tracker_pt/point_extractor.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/point_extractor.cpp | 180 |
1 files changed, 0 insertions, 180 deletions
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp deleted file mode 100644 index ec37dd00..00000000 --- a/ftnoir_tracker_pt/point_extractor.cpp +++ /dev/null @@ -1,180 +0,0 @@ -/* Copyright (c) 2012 Patrick Ruoff - * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl> - * - * Permission to use, copy, modify, and/or distribute this software for any - * purpose with or without fee is hereby granted, provided that the above - * copyright notice and this permission notice appear in all copies. - */ - -#include "point_extractor.h" -#include <QDebug> - -#ifdef DEBUG_EXTRACTION -# include "opentrack-compat/timer.hpp" -#endif - -PointExtractor::PointExtractor(){ - //if (!AllocConsole()){} - //else SetConsoleTitle("debug"); - //freopen("CON", "w", stdout); - //freopen("CON", "w", stderr); -} -// ---------------------------------------------------------------------------- -std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame) -{ - 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); - - const double region_size_min = s.min_point_size; - const double region_size_max = s.max_point_size; - - struct blob - { - double radius; - cv::Vec2d pos; - double confid; - bool taken; - double area; - 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; - } - bool inside(const blob& other) - { - cv::Vec2d tmp = pos - other.pos; - return sqrt(tmp.dot(tmp)) < radius; - } - }; - - // mask for everything that passes the threshold (or: the upper threshold of the hysteresis) - cv::Mat frame_bin = cv::Mat::zeros(H, W, CV_8U); - - std::vector<blob> blobs; - std::vector<std::vector<cv::Point>> contours; - - const int thres = s.threshold; - if (!s.auto_threshold) - { - cv::Mat frame_bin_; - cv::threshold(frame_gray, frame_bin_, thres, 255, cv::THRESH_BINARY); - frame_bin.setTo(170, frame_bin_); - cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); - } - else - { - cv::Mat hist; - cv::calcHist(std::vector<cv::Mat> { frame_gray }, - std::vector<int> { 0 }, - cv::Mat(), - hist, - std::vector<int> { 256 }, - std::vector<float> { 0, 256 }, - false); - const int sz = hist.rows*hist.cols; - int val = 0; - int cnt = 0; - constexpr int min_pixels = 250; - const auto pixels_to_include = std::max<int>(0, min_pixels * s.threshold/100.); - for (int i = sz-1; i >= 0; i--) - { - cnt += hist.at<float>(i); - if (cnt >= pixels_to_include) - { - val = i; - break; - } - } - val *= 240./256.; - //qDebug() << "val" << val; - - cv::Mat frame_bin_; - cv::threshold(frame_gray, frame_bin_, val, 255, CV_THRESH_BINARY); - frame_bin.setTo(170, frame_bin_); - cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE); - } - - int cnt = 0; - - for (auto& c : contours) - { - if (cnt++ > 30) - break; - - const auto m = cv::moments(cv::Mat(c)); - const double area = m.m00; - if (area == 0.) - continue; - const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00); - - double radius; -// following based on OpenCV SimpleBlobDetector - { - std::vector<double> dists; - for (auto& k : c) - { - dists.push_back(cv::norm(pos - cv::Vec2d(k.x, k.y))); - } - 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) - { - 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; - } - } -// 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, area)); - } - - // clear old points - points.clear(); - - using b = const blob; - std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;}); - - for (auto& b : blobs) - { - cv::Vec2f p((b.pos[0] - W/2)/W, -(b.pos[1] - H/2)/W); - points.push_back(p); - } - - // draw output image - std::vector<cv::Mat> channels_; - cv::split(frame, channels_); - std::vector<cv::Mat> channels; - { - cv::Mat frame_bin__ = frame_bin * .5; - channels.push_back(channels_[0] + frame_bin__); - channels.push_back(channels_[1] - frame_bin__); - channels.push_back(channels_[2] - frame_bin__); - cv::merge(channels, frame); - } - - return points; -} |