diff options
Diffstat (limited to 'tracker-pt/point_extractor.cpp')
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 228 |
1 files changed, 113 insertions, 115 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp index 5cefcbcd..a67a72df 100644 --- a/tracker-pt/point_extractor.cpp +++ b/tracker-pt/point_extractor.cpp @@ -12,10 +12,13 @@ #include <QDebug> #include <opencv2/videoio.hpp> +#include <opencv2/imgproc.hpp> #include <cmath> #include <algorithm> #include <cinttypes> +#include <vector> +#include <array> using std::sqrt; using std::fmax; @@ -84,12 +87,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame { frame_gray = 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); + //frame_blobs = cv::Mat(frame.rows, frame.cols, CV_8U); } - // convert to grayscale - cv::cvtColor(frame, frame_gray, cv::COLOR_BGR2GRAY); + const double region_size_min = s.min_point_size; const double region_size_max = s.max_point_size; @@ -100,160 +102,156 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame } else { - cv::calcHist(std::vector<cv::Mat> { frame_gray }, - std::vector<int> { 0 }, - cv::Mat(), + static const std::vector<int> used_channels { 0 }; + static const std::vector<int> hist_size { 256 }; + static const std::vector<float> hist_ranges { 0, 256 }; + + cv::calcHist(std::vector<cv::Mat1b> { frame_gray }, + used_channels, + cv::noArray(), hist, - std::vector<int> { 256 }, - std::vector<float> { 0, 256 }, + hist_size, + hist_ranges, false); static constexpr double min_radius = 2.5; static constexpr double max_radius = 15; + const float* restrict ptr = reinterpret_cast<const float*>(hist.data); const double radius = fmax(0., (max_radius-min_radius) * s.threshold / 255 + min_radius); - const float* OTR_RESTRICT ptr = reinterpret_cast<const float*>(hist.ptr(0)); - const unsigned area = uround(3 * M_PI * radius*radius); - const unsigned sz = unsigned(hist.cols * hist.rows); - unsigned thres = 1; - for (unsigned i = sz-1, cnt = 0; i > 1; i--) + const unsigned area = uround(3 * M_PI * radius * radius); + unsigned thres = 255; + unsigned accum = 0; + + for (unsigned k = 255; k != 0; k--) { - cnt += ptr[i]; - if (cnt >= area) + accum += ptr[k]; + if (accum >= area) { - thres = i; + thres = k; break; } } - //val *= 240./256.; - //qDebug() << "thres" << thres; - cv::threshold(frame_gray, frame_bin, thres, 255, CV_THRESH_BINARY); + cv::threshold(frame_gray, frame_bin, thres, 255, cv::THRESH_BINARY); } blobs.clear(); - frame_bin.copyTo(frame_blobs); - unsigned idx = 0; - for (int y=0; y < frame_blobs.rows; y++) + // ----- + // start code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp + // ----- + + contours.clear(); + + cv::findContours(frame_bin, contours, cv::RETR_LIST, cv::CHAIN_APPROX_SIMPLE); + const unsigned cnt = std::min(unsigned(max_blobs), contours.size()); + + for (unsigned k = 0; k < cnt; k++) { - const unsigned char* ptr_bin = frame_blobs.ptr(y); - for (int x=0; x < frame_blobs.cols; x++) - { - if (ptr_bin[x] != 255) - continue; - idx = blobs.size() + 1; - - cv::Rect rect; - cv::floodFill(frame_blobs, - cv::Point(x,y), - cv::Scalar(idx), - &rect, - cv::Scalar(0), - cv::Scalar(0), - 8); - - // 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; - - for (int i=rect.y; i < (rect.y+rect.height); 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++) - { - 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; - cnt++; - } - } - if (norm > 0) - { - const double radius = 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/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; - cv::Point p(iround(b.pos[0] * cx), iround(b.pos[1] * cy)); - - cv::circle(preview_frame, p, iround((b.radius-2) * c_), cv::Scalar(255, 255, 0), 1, cv::LINE_AA); - cv::circle(preview_frame, p, 1, cv::Scalar(255, 255, 64), -1, cv::LINE_AA); - - char buf[64]; - sprintf(buf, "%.1fpx", radius); - - 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); - } - - if (idx >= max_blobs) goto end; - } - } + if (contours[k].size() == 0) + continue; + + cv::Moments moments = cv::moments(contours[k]); + + const double area = moments.m00; + const double radius = std::sqrt(area) / std::sqrt(M_PI); + + if (radius < std::fmax(2.5, region_size_min) || (radius > region_size_max)) + continue; + + cv::Rect rect = cv::boundingRect(contours[k]) & cv::Rect(0, 0, frame.cols, frame.rows); + + rect &= cv::Rect(0, 0, frame.cols, frame.rows); // crop at frame boundaries + + if (rect.width == 0 || rect.height == 0) + continue; + + const vec2 center(moments.m10 / moments.m00, moments.m01 / moments.m00); + + if (!cv::Point2d(center).inside(cv::Rect2d(rect))) + continue; + + const double value = radius; + + blob b(radius, center, value, 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); + cv::circle(preview_frame, p, 1, cv::Scalar(255, 255, 64), -1, cv::LINE_4); + + char buf[64]; + sprintf(buf, "%.1fpx", int(b.radius*10+.5)/10.); + + 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); } -end: + // ----- + // end of code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp + // ----- - std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.brightness < b1.brightness; }); + std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.value < b1.value; }); const int W = frame.cols; const int H = frame.rows; - for (idx = 0; idx < min(PointModel::N_POINTS, unsigned(blobs.size())); ++idx) - { - blob &b = blobs[idx]; - cv::Rect rect = b.rect; +#if defined DEBUG_MEANSHIFT + double meanshift_total = 0; +#endif - rect.x -= rect.width / 2; - rect.y -= rect.height / 2; - rect.width *= 2; - rect.height *= 2; - rect &= cv::Rect(0, 0, W, H); // crop at frame boundaries + for (unsigned k = 0; k < min(PointModel::N_POINTS, unsigned(blobs.size())); ++k) + { + blob &b = blobs[k]; + const cv::Rect rect = b.rect; cv::Mat frame_roi = frame_gray(rect); - static constexpr f radius_c = 1.5; + static constexpr f radius_c = 1.75; const f kernel_radius = b.radius * radius_c; cv::Vec2d pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI. + cv::Vec2d pos_(pos); for (int iter = 0; iter < 10; ++iter) { cv::Vec2d com_new = MeanShiftIteration(frame_roi, pos, kernel_radius); cv::Vec2d delta = com_new - pos; pos = com_new; - if (delta.dot(delta) < 1e-2) + if (delta.dot(delta) < 1e-3) break; } +#if defined DEBUG_MEANSHIFT + meanshift_total += std::sqrt((pos_ - pos).dot(pos_ - pos)); +#endif + b.pos[0] = pos[0] + rect.x; b.pos[1] = pos[1] + rect.y; + + if (!cv::Point2d(b.pos[0], b.pos[1]).inside(b.rect)) + continue; } +#if defined DEBUG_MEANSHIFT + qDebug() << "meanshift adjust total" << meanshift_total; +#endif + // 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(); @@ -267,8 +265,8 @@ end: } } -blob::blob(double radius, const cv::Vec2d& pos, double brightness, cv::Rect& rect) : - radius(radius), brightness(brightness), pos(pos), rect(rect) +blob::blob(double radius, const cv::Vec2d& pos, double brightness, const cv::Rect& rect) : + radius(radius), value(brightness), pos(pos), rect(rect) { //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1]; } |