diff options
Diffstat (limited to 'tracker-pt/point_extractor.cpp')
| -rw-r--r-- | tracker-pt/point_extractor.cpp | 72 |
1 files changed, 51 insertions, 21 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp index 29f68bdb..3266d889 100644 --- a/tracker-pt/point_extractor.cpp +++ b/tracker-pt/point_extractor.cpp @@ -21,6 +21,12 @@ #include <vector> #include <array> +//#define DEBUG_CONTOURS + +#if defined DEBUG_CONTOURS +# include <opencv2/highgui.hpp> +#endif + using namespace pt_extractor_impl; constexpr int PointExtractor::max_blobs; @@ -43,6 +49,8 @@ algorithm for tracking single particles with variable size and shape." (2008). */ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 ¤t_center, f filter_width, f& m_) { + m_ = 0; + // Most amazingling this function runs faster with doubles than with floats. const f s = 1 / filter_width; @@ -50,25 +58,24 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &curre vec2 com(0, 0); for (int i = 0; i < frame_gray.rows; i++) { - const auto frame_ptr = (const uint8_t*)frame_gray.ptr(i); + const auto frame_ptr = (const uint8_t* restrict)frame_gray.ptr(i); for (int j = 0; j < frame_gray.cols; j++) { f val = frame_ptr[j]; + m_ += val; val = val * val; // taking the square wights brighter parts of the image stronger. + m += val; { f dx = (j - current_center[0])*s; f dy = (i - current_center[1])*s; f f = fmax(0.0, 1 - dx*dx - dy*dy); val *= f; } - m += val; com[0] += j * val; com[1] += i * val; } } - m_ = m; - if (m > f(.1)) { com *= 1 / m; @@ -87,9 +94,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame { 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_blobs = cv::Mat(frame.rows, frame.cols, CV_8U); + frame_gray = cv::Mat1b(frame.rows, frame.cols); + frame_bin = cv::Mat1b(frame.rows, frame.cols); + + for (unsigned k = 0; k < max_blobs; k++) + contour_masks[k] = cv::Mat1b(frame.rows, frame.cols); } cv::cvtColor(frame, frame_gray, cv::COLOR_BGR2GRAY); @@ -125,7 +134,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame unsigned thres = 255; unsigned accum = 0; - for (unsigned k = 255; k != 0; k--) + for (unsigned k = 255; k != 16; k--) { accum += ptr[k]; if (accum >= area) @@ -140,12 +149,12 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame blobs.clear(); + contours.clear(); + // ----- // 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 = min(max_blobs, int(contours.size())); @@ -157,6 +166,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame cv::Moments moments = cv::moments(contours[k]); const double area = moments.m00; + +// ----- +// end of code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp +// ----- + const double radius = sqrt(area) / sqrt(M_PI); if (radius < fmax(2.5, region_size_min) || (radius > region_size_max)) @@ -172,12 +186,24 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame if (!cv::Point2d(center).inside(cv::Rect2d(rect))) continue; - blob b(radius, center, 0, rect); - blobs.push_back(b); + contour_masks[k].setTo(0); -// ----- -// end of code borrowed from OpenCV's modules/features2d/src/blobdetector.cpp -// ----- + cv::drawContours(contour_masks[k], contours, k, + cv::Scalar(255, 255, 255), cv::FILLED, + cv::LINE_4); + + contour_masks[k] = frame_gray & contour_masks[k]; + +#if defined DEBUG_CONTOURS + if (blobs.size() == 0) + { + cv::imshow("mask", contour_masks[k]); + cv::waitKey(1); + } +#endif + + blob b(radius, center, 0, rect, k); + blobs.push_back(b); static const f offx = 10, offy = 7.5; const f cx = preview_frame.cols / f(frame.cols), @@ -211,12 +237,14 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame double meanshift_total = 0; #endif - for (unsigned k = 0; k < min(PointModel::N_POINTS, unsigned(blobs.size())); ++k) + for (unsigned k = 0; k < unsigned(blobs.size()); ++k) { blob &b = blobs[k]; const cv::Rect rect = b.rect; - cv::Mat frame_roi = frame_gray(rect); + const unsigned idx = b.idx; + + cv::Mat frame_roi = contour_masks[idx](rect); static constexpr f radius_c = 1.75; @@ -237,7 +265,9 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame break; } - b.value = norm / sqrt(b.radius); + const f area = f(M_PI) * b.radius * b.radius; + // note that sqrt isn't derived from anything. we just want bigger points. + b.value = norm / sqrt(area); #if defined DEBUG_MEANSHIFT meanshift_total += sqrt((pos_ - pos).dot(pos_ - pos)); @@ -254,7 +284,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame qDebug() << "meanshift adjust total" << meanshift_total; #endif - std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b2.value < b1.value; }); + std::sort(blobs.begin(), blobs.end(), [](const blob& b1, const blob& b2) { return b1.value > b2.value; }); // End of mean shift code. At this point, blob positions are updated with hopefully less noisy, less biased values. points.reserve(max_blobs); @@ -269,8 +299,8 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame } } -blob::blob(double radius, const cv::Vec2d& pos, double brightness, const cv::Rect& rect) : - radius(radius), value(brightness), pos(pos), rect(rect) +blob::blob(double radius, const cv::Vec2d& pos, double brightness, const cv::Rect& rect, unsigned idx) : + radius(radius), value(brightness), pos(pos), rect(rect), idx(idx) { //qDebug() << "radius" << radius << "pos" << pos[0] << pos[1]; } |