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-rw-r--r--tracker-pt/point_extractor.cpp128
1 files changed, 66 insertions, 62 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index e68aa132..4c4e269f 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -230,9 +230,9 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat& output)
}
else
{
- int hist_size = 256;
- float ranges_[] = { 0, 256 };
- float const* ranges = (float*) ranges_;
+ static const int hist_size = 256;
+ static const float ranges_[] = { 0, 256 };
+ static float const* ranges = (const float*) ranges_;
cv::calcHist(&frame_gray,
1,
@@ -245,7 +245,7 @@ void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat& output)
const f radius = (f) threshold_radius_value(frame_gray.cols, frame_gray.rows, threshold_slider_value);
- float const* restrict_ptr ptr = reinterpret_cast<float const* restrict_ptr>(hist.ptr(0));
+ auto ptr = (float const* restrict_ptr) hist.ptr(0);
const unsigned area = uround(3 * M_PI * radius*radius);
const unsigned sz = unsigned(hist.cols * hist.rows);
unsigned thres = 32;
@@ -311,83 +311,50 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
&rect,
cv::Scalar(0),
cv::Scalar(0),
- 8);
+ 4 | cv::FLOODFILL_FIXED_RANGE);
- // these are doubles since m10 and m01 could overflow theoretically
- // log2(255^2 * 640^2 * pi) > 36
- double m10 = 0;
- double m01 = 0;
- // norm can't overflow since there's no 640^2 component
- int norm = 0;
- int cnt = 0;
+ unsigned cnt = 0;
+ unsigned norm = 0;
- for (int i=rect.y; i < (rect.y+rect.height); i++)
+ const int ymax = rect.y+rect.height,
+ xmax = rect.x+rect.width;
+
+ for (int i=rect.y; i < ymax; i++)
{
- unsigned char* ptr_blobs = frame_blobs.ptr(i);
- const unsigned char* ptr_gray = frame_gray.ptr(i);
- for (int j=rect.x; j < (rect.x+rect.width); j++)
+ unsigned char* restrict_ptr ptr_blobs = frame_blobs.ptr(i);
+ unsigned char const* restrict_ptr ptr_gray = frame_gray.ptr(i);
+ for (int j=rect.x; j < xmax; j++)
{
if (ptr_blobs[j] != idx)
continue;
- ptr_blobs[j] = 0;
-
- // square as a weight gives better results
- const int val(int(ptr_gray[j]) * int(ptr_gray[j]));
-
- norm += val;
- m01 += i * val;
- m10 += j * val;
+ //ptr_blobs[j] = 0;
+ norm += ptr_gray[j];
cnt++;
}
}
- if (norm > 0)
- {
- const double radius = std::sqrt(cnt / M_PI), N = double(norm);
- if (radius > region_size_max || radius < region_size_min)
- continue;
-
- blob b(radius, cv::Vec2d(m10 / N, m01 / N), N/std::sqrt(double(cnt)), rect);
- blobs.push_back(b);
-
- {
- static const f offx = 10, offy = 7.5;
- const f cx = preview_frame.cols / f(frame.cols),
- cy = preview_frame.rows / f(frame.rows),
- c_ = (cx+cy)/2;
-
- static constexpr unsigned fract_bits = 16;
- static constexpr double c_fract(1 << fract_bits);
- cv::Point p(iround(b.pos[0] * cx * c_fract), iround(b.pos[1] * cy * c_fract));
-
- cv::circle(preview_frame, p, iround((b.radius + 2) * c_ * c_fract), cv::Scalar(255, 255, 0), 1, cv::LINE_AA, fract_bits);
-
- char buf[16];
- std::snprintf(buf, sizeof(buf), "%.2fpx", radius);
- buf[sizeof(buf)-1] = '\0';
+ const double radius = std::sqrt(cnt / M_PI);
+ if (radius > region_size_max || radius < region_size_min)
+ continue;
- cv::putText(preview_frame,
- buf,
- cv::Point(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy)),
- cv::FONT_HERSHEY_PLAIN,
- 1,
- cv::Scalar(0, 0, 255),
- 1);
- }
+ blob b(radius, vec2(rect.width/2., rect.height/2.), norm/cnt, rect);
+ blobs.push_back(b);
- if (idx >= max_blobs) goto end;
- }
+ if (idx >= max_blobs)
+ goto end;
}
}
end:
- std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { 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)
+ const unsigned sz = blobs.size();
+
+ std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.brightness < b1.brightness; });
+
+ for (idx = 0; idx < sz; ++idx)
{
blob &b = blobs[idx];
cv::Rect rect = b.rect;
@@ -405,7 +372,7 @@ end:
static constexpr f radius_c = f(1.75);
const f kernel_radius = b.radius * radius_c;
- vec2 pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI.
+ vec2 pos(rect.width/2., rect.height/2.); // position relative to ROI.
for (int iter = 0; iter < 10; ++iter)
{
@@ -420,6 +387,43 @@ end:
b.pos[1] = pos[1] + rect.y;
}
+ for (unsigned k = 0; k < blobs.size(); k++)
+ {
+ blob& b = blobs[k];
+
+ static const f offx = 10, offy = 7.5;
+ const f cx = preview_frame.cols / f(frame.cols),
+ cy = preview_frame.rows / f(frame.rows),
+ c_ = (cx+cy)/2;
+
+ static constexpr unsigned fract_bits = 16;
+ static constexpr double c_fract(1 << fract_bits);
+
+ cv::Point p(iround(b.pos[0] * cx * c_fract), iround(b.pos[1] * cy * c_fract));
+
+ auto circle_color = k >= PointModel::N_POINTS
+ ? cv::Scalar(192, 192, 192)
+ : cv::Scalar(255, 255, 0);
+
+ cv::circle(preview_frame, p, iround((b.radius + 3.3) * c_ * c_fract), circle_color, 1, cv::LINE_AA, fract_bits);
+
+ char buf[16];
+ std::snprintf(buf, sizeof(buf), "%.2fpx", b.radius);
+ buf[sizeof(buf)-1] = '\0';
+
+ auto text_color = k >= PointModel::N_POINTS
+ ? cv::Scalar(160, 160, 160)
+ : cv::Scalar(0, 0, 255);
+
+ cv::putText(preview_frame,
+ buf,
+ cv::Point(iround(b.pos[0]*cx+offx), iround(b.pos[1]*cy+offy)),
+ cv::FONT_HERSHEY_PLAIN,
+ 1,
+ text_color,
+ 1);
+ }
+
// 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();