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-rw-r--r--tracker-pt/point_extractor.cpp161
1 files changed, 90 insertions, 71 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index a1294c1e..1b06df5a 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -1,5 +1,5 @@
/* Copyright (c) 2012 Patrick Ruoff
- * Copyright (c) 2014-2015 Stanislaw Halik <sthalik@misaki.pl>
+ * Copyright (c) 2015-2016 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
@@ -10,24 +10,35 @@
#include <QDebug>
#ifdef DEBUG_EXTRACTION
-# include "opentrack-compat/timer.hpp"
+# include "compat/timer.hpp"
#endif
+#include <opencv2/videoio.hpp>
+
+#include <cmath>
+#include <algorithm>
+#include <cinttypes>
+
PointExtractor::PointExtractor()
{
blobs.reserve(max_blobs);
- points.reserve(max_blobs);
}
-const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
+void PointExtractor::extract_points(cv::Mat& frame, std::vector<cv::Vec2d>& points)
{
+ using std::sqrt;
+ using std::max;
+ using std::round;
+ using std::sort;
+
const int W = frame.cols;
const int H = frame.rows;
-
+
if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
{
frame_gray = cv::Mat(frame.rows, frame.cols, CV_8U);
- frame_bin = 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);
}
// convert to grayscale
@@ -35,15 +46,11 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
const double region_size_min = s.min_point_size;
const double region_size_max = s.max_point_size;
-
- const int thres = s.threshold;
-
- contours.clear();
if (!s.auto_threshold)
{
+ const int thres = s.threshold;
cv::threshold(frame_gray, frame_bin, thres, 255, cv::THRESH_BINARY);
- cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
}
else
{
@@ -51,95 +58,107 @@ const std::vector<cv::Vec2f>& PointExtractor::extract_points(cv::Mat& frame)
std::vector<int> { 0 },
cv::Mat(),
hist,
- std::vector<int> { 256/hist_c },
- std::vector<float> { 0, 256/hist_c },
+ std::vector<int> { 256 },
+ std::vector<float> { 0, 256 },
false);
const int sz = hist.cols * hist.rows;
- int val = 0;
+ int thres = 255;
int cnt = 0;
- constexpr int min_pixels = 250;
- const auto pixels_to_include = std::max<int>(0, min_pixels * s.threshold/100.);
+ constexpr double min_radius = 4;
+ constexpr double max_radius = 15;
+ const double radius = max(0., (max_radius-min_radius) * s.threshold / 256);
+ const int pixels_to_include = int((min_radius + radius)*(min_radius+radius) * 3);
auto ptr = reinterpret_cast<const float*>(hist.ptr(0));
- for (int i = sz-1; i >= 0; i--)
+ for (int i = sz-1; i > 0; i--)
{
cnt += ptr[i];
if (cnt >= pixels_to_include)
{
- val = i;
+ thres = i;
break;
}
}
- val *= hist_c;
- val *= 240./256.;
- //qDebug() << "val" << val;
+ //val *= 240./256.;
+ //qDebug() << "thres" << thres;
- cv::threshold(frame_gray, frame_bin, val, 255, CV_THRESH_BINARY);
- cv::findContours(frame_bin, contours, CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE);
+ cv::threshold(frame_gray, frame_bin, thres, 255, CV_THRESH_BINARY);
}
blobs.clear();
+ frame_bin.copyTo(frame_blobs);
- for (auto& c : contours)
+ unsigned idx = 0;
+ for (int y=0; y < frame_blobs.rows; y++)
{
- const auto m = cv::moments(cv::Mat(c));
- const cv::Vec2d pos(m.m10 / m.m00, m.m01 / m.m00);
+ if (idx > max_blobs) break;
- double radius;
-// following based on OpenCV SimpleBlobDetector
+ const unsigned char* ptr_bin = frame_blobs.ptr(y);
+ for (int x=0; x < frame_blobs.cols; x++)
{
- std::vector<double> dists;
- for (auto& k : c)
+ if (idx > max_blobs) break;
+
+ 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);
+ int m00 = 0;
+ int m10 = 0;
+ int m01 = 0;
+ int cnt = 0;
+
+ for (int i=rect.y; i < (rect.y+rect.height); i++)
{
- dists.push_back(cv::norm(pos - cv::Vec2d(k.x, k.y)));
+ 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;
+ const int val = int(ptr_gray[j]);
+ m00 += val;
+ m01 += i * val;
+ m10 += j * val;
+ cnt++;
+ }
}
- 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)
+ if (m00 > 0)
{
- 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;
+ const double radius = sqrt(cnt / M_PI);
+ if (radius > region_size_max || radius < region_size_min)
+ continue;
+ const double norm = double(m00);
+ blob b(radius, cv::Vec2d(m10 / norm, m01 / norm), m00/sqrt(double(cnt)));
+ blobs.push_back(b);
+ {
+ char buf[64];
+ sprintf(buf, "%.2fpx", radius);
+ cv::putText(frame,
+ buf,
+ cv::Point((int)round(b.pos[0]+30), (int)round(b.pos[1]+20)),
+ cv::FONT_HERSHEY_DUPLEX,
+ 1,
+ cv::Scalar(0, 0, 255),
+ 1);
+ }
}
}
-// 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);
- }
+ sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) -> bool { return b2.brightness < b1.brightness; });
- blobs.push_back(blob(radius, pos, confid));
-
- if (blobs.size() == max_blobs)
- break;
- }
-
- using b = const blob;
- std::sort(blobs.begin(), blobs.end(), [](b& b1, b& b2) {return b1.confid > b2.confid;});
-
- QMutexLocker l(&mtx);
+ points.reserve(max_blobs);
points.clear();
-
+
for (auto& b : blobs)
{
- cv::Vec2f p((b.pos[0] - W/2)/W, -(b.pos[1] - H/2)/W);
+ cv::Vec2d p((b.pos[0] - W/2)/W, -(b.pos[1] - H/2)/W);
points.push_back(p);
}
-
- return points;
}
generated by cgit v1.2.3 (git 2.39.1) at 2025-01-30 16:51:16 +0000