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-rw-r--r--ftnoir_tracker_pt/FTNoIR_PT_Controls.ui106
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp2
-rw-r--r--ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h4
-rw-r--r--ftnoir_tracker_pt/point_extractor.cpp16
4 files changed, 79 insertions, 49 deletions
diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 62add856..32dcdef1 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -9,8 +9,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>405</width>
- <height>593</height>
+ <width>419</width>
+ <height>575</height>
</rect>
</property>
<property name="sizePolicy">
@@ -299,52 +299,30 @@
<string>Point extraction</string>
</property>
<layout class="QGridLayout" name="gridLayout_7">
- <item row="0" column="1" colspan="2">
- <widget class="QSlider" name="threshold_slider">
+ <item row="3" column="1">
+ <widget class="QSpinBox" name="maxdiam_spin">
<property name="toolTip">
- <string>Intensity threshold for point extraction</string>
- </property>
- <property name="maximum">
- <number>255</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="value">
- <number>127</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBothSides</enum>
- </property>
- <property name="tickInterval">
- <number>25</number>
+ <string>Maximum point diameter</string>
</property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Min size</string>
+ <property name="suffix">
+ <string> px</string>
</property>
- <property name="buddy">
- <cstring>mindiam_spin</cstring>
+ <property name="maximum">
+ <number>1024</number>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="label">
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_8">
<property name="text">
- <string>Threshold</string>
+ <string>Max size</string>
</property>
<property name="buddy">
- <cstring>threshold_slider</cstring>
+ <cstring>maxdiam_spin</cstring>
</property>
</widget>
</item>
- <item row="1" column="1">
+ <item row="2" column="1">
<widget class="QSpinBox" name="mindiam_spin">
<property name="toolTip">
<string>Minimum point diameter</string>
@@ -357,26 +335,62 @@
</property>
</widget>
</item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Threshold</string>
+ </property>
+ <property name="buddy">
+ <cstring>threshold_slider</cstring>
+ </property>
+ </widget>
+ </item>
<item row="2" column="0">
- <widget class="QLabel" name="label_8">
+ <widget class="QLabel" name="label_7">
<property name="text">
- <string>Max size</string>
+ <string>Min size</string>
</property>
<property name="buddy">
- <cstring>maxdiam_spin</cstring>
+ <cstring>mindiam_spin</cstring>
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QSpinBox" name="maxdiam_spin">
+ <item row="1" column="1" colspan="2">
+ <widget class="QSlider" name="threshold_slider">
<property name="toolTip">
- <string>Maximum point diameter</string>
- </property>
- <property name="suffix">
- <string> px</string>
+ <string>Intensity threshold for point extraction</string>
</property>
<property name="maximum">
- <number>1024</number>
+ <number>255</number>
+ </property>
+ <property name="pageStep">
+ <number>1</number>
+ </property>
+ <property name="value">
+ <number>127</number>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="tickPosition">
+ <enum>QSlider::TicksBothSides</enum>
+ </property>
+ <property name="tickInterval">
+ <number>25</number>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>Automatic threshold</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QCheckBox" name="auto_threshold">
+ <property name="text">
+ <string>Enable, ignore slider</string>
</property>
</widget>
</item>
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 12d108ac..da7a6113 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -62,6 +62,8 @@ TrackerDialog_PT::TrackerDialog_PT()
tie_setting(s.dynamic_pose, ui.dynamic_pose);
tie_setting(s.init_phase_timeout, ui.init_phase_timeout);
+ tie_setting(s.auto_threshold, ui.auto_threshold);
+
connect( ui.tcalib_button,SIGNAL(toggled(bool)), this,SLOT(startstop_trans_calib(bool)) );
connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
index af2f5978..57e68d0e 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_settings.h
@@ -33,6 +33,7 @@ struct settings_pt : opts
value<bool> dynamic_pose;
value<int> init_phase_timeout;
+ value<bool> auto_threshold;
settings_pt() :
opts("tracker-pt"),
@@ -62,7 +63,8 @@ struct settings_pt : opts
cap_z(b, "cap-z", 100),
fov(b, "camera-fov", 56),
dynamic_pose(b, "dynamic-pose-resolution", true),
- init_phase_timeout(b, "init-phase-timeout", 500)
+ init_phase_timeout(b, "init-phase-timeout", 500),
+ auto_threshold(b, "automatic-threshold", false)
{}
};
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index fcdbbaed..0501a5c6 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -31,8 +31,6 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
const int region_size_min = s.min_point_size;
const int region_size_max = s.max_point_size;
- const int thres = s.threshold;
-
struct simple_blob
{
double radius;
@@ -56,12 +54,26 @@ std::vector<cv::Vec2f> PointExtractor::extract_points(cv::Mat& frame)
std::vector<simple_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 frame_bin_, tmp;
+ int scale = frame_gray.cols > 400 ? 2 : 1;
+ constexpr int size = 3;
+ static cv::Mat kernel = cv::getGaussianKernel(size * scale + 1, CV_32F);
+ cv::sepFilter2D(frame_gray, tmp, -1, kernel, kernel);
+ cv::threshold(tmp, frame_bin_, 0, 255, CV_THRESH_BINARY|CV_THRESH_OTSU);
+ frame_bin.setTo(170, frame_bin_);
+ cv::findContours(frame_bin_, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+ }
int cnt = 0;
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-28 22:28:44 +0000