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Diffstat (limited to 'tracker-pt/point_extractor.cpp')
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp new file mode 100644 index 00000000..ec37dd00 --- /dev/null +++ b/tracker-pt/point_extractor.cpp @@ -0,0 +1,180 @@ +/* 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; +} |