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-rw-r--r--tracker-pt/FTNoIR_PT_Controls.ui12
-rw-r--r--tracker-pt/ftnoir_tracker_pt_dialog.cpp7
-rw-r--r--tracker-pt/ftnoir_tracker_pt_settings.h2
-rw-r--r--tracker-pt/point_extractor.cpp220
-rw-r--r--tracker-pt/point_extractor.h15
5 files changed, 177 insertions, 79 deletions
diff --git a/tracker-pt/FTNoIR_PT_Controls.ui b/tracker-pt/FTNoIR_PT_Controls.ui
index ac85b2cb..6f911c1e 100644
--- a/tracker-pt/FTNoIR_PT_Controls.ui
+++ b/tracker-pt/FTNoIR_PT_Controls.ui
@@ -438,7 +438,17 @@
</item>
<item>
<property name="text">
- <string>Red</string>
+ <string>Red only</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Blue only</string>
+ </property>
+ </item>
+ <item>
+ <property name="text">
+ <string>Smoothed average</string>
</property>
</item>
</widget>
diff --git a/tracker-pt/ftnoir_tracker_pt_dialog.cpp b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
index 4094f4dc..9f0832ef 100644
--- a/tracker-pt/ftnoir_tracker_pt_dialog.cpp
+++ b/tracker-pt/ftnoir_tracker_pt_dialog.cpp
@@ -87,6 +87,8 @@ TrackerDialog_PT::TrackerDialog_PT()
pt_color_natural,
pt_color_floppy_filter,
pt_color_red_only,
+ pt_color_blue_only,
+ pt_color_smoothed_average,
};
for (unsigned k = 0; k < std::size(color_types); k++)
@@ -111,7 +113,10 @@ QString TrackerDialog_PT::threshold_display_text(int threshold_value)
else
{
CamInfo info;
- int w = 640, h = 480;
+ int w = s.cam_res_x, h = s.cam_res_y;
+
+ if (w * h <= 0)
+ w = 640, h = 480;
if (tracker && tracker->get_cam_info(&info) && info.res_x * info.res_y != 0)
w = info.res_x, h = info.res_y;
diff --git a/tracker-pt/ftnoir_tracker_pt_settings.h b/tracker-pt/ftnoir_tracker_pt_settings.h
index 8250edba..231934c9 100644
--- a/tracker-pt/ftnoir_tracker_pt_settings.h
+++ b/tracker-pt/ftnoir_tracker_pt_settings.h
@@ -19,6 +19,8 @@ enum pt_color_type
pt_color_red_only = 3,
pt_color_floppy_filter = 4,
pt_color_average = 5,
+ pt_color_blue_only = 6,
+ pt_color_smoothed_average = 7,
};
struct settings_pt : opts
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 40054084..d17bd6cd 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -12,7 +12,13 @@
#include <QDebug>
#include <opencv2/videoio.hpp>
-#include <opencv2/highgui.hpp>
+
+#undef PREVIEW
+//#define PREVIEW
+
+#if defined PREVIEW
+# include <opencv2/highgui.hpp>
+#endif
#include <cmath>
#include <algorithm>
@@ -40,24 +46,24 @@ corresponding location is a good candidate for the extracted point.
The idea similar to the window scaling suggested in Berglund et al. "Fast, bias-free
algorithm for tracking single particles with variable size and shape." (2008).
*/
-static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const cv::Vec2d &current_center, double filter_width)
+static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const vec2 &current_center, f filter_width)
{
// Most amazingly this function runs faster with doubles than with floats.
- const double s = 1.0 / filter_width;
+ const f s = 1.0 / filter_width;
- double m = 0;
- cv::Vec2d com(0.0, 0.0);
+ f m = 0;
+ vec2 com { 0, 0 };
for (int i = 0; i < frame_gray.rows; i++)
{
auto frame_ptr = (uint8_t const* restrict_ptr)frame_gray.ptr(i);
for (int j = 0; j < frame_gray.cols; j++)
{
- double val = frame_ptr[j];
+ f val = frame_ptr[j];
val = val * val; // taking the square wights brighter parts of the image stronger.
{
- double dx = (j - current_center[0])*s;
- double dy = (i - current_center[1])*s;
- double f = std::fmax(0.0, 1.0 - dx*dx - dy*dy);
+ f dx = (j - current_center[0])*s;
+ f dy = (i - current_center[1])*s;
+ f f = std::fmax(0, 1 - dx*dx - dy*dy);
val *= f;
}
m += val;
@@ -65,9 +71,9 @@ static cv::Vec2d MeanShiftIteration(const cv::Mat &frame_gray, const cv::Vec2d &
com[1] += i * val;
}
}
- if (m > 0.1)
+ if (m > f(.1))
{
- com *= 1.0 / m;
+ com *= f(1) / m;
return com;
}
else
@@ -79,57 +85,64 @@ PointExtractor::PointExtractor()
blobs.reserve(max_blobs);
}
-void PointExtractor::separate_channels(cv::Mat const& orig, const int* order, int order_npairs)
+void PointExtractor::ensure_channel_buffers(const cv::Mat& orig_frame)
{
- if (unlikely(ch[0].rows != orig.rows || ch[0].cols != orig.cols))
+ if (ch[0].rows != orig_frame.rows || ch[0].cols != orig_frame.cols)
{
for (unsigned k = 0; k < 3; k++)
{
- ch[k] = cv::Mat1b(orig.rows, orig.cols);
- ch_float[k] = cv::Mat1f(orig.rows, orig.cols);
+ ch[k] = cv::Mat1b(orig_frame.rows, orig_frame.cols);
+ ch_float[k] = cv::Mat1f(orig_frame.rows, orig_frame.cols);
}
// extra channel is a scratch buffer
- ch_float[3] = cv::Mat1f(orig.rows, orig.cols);
+ ch_float[3] = cv::Mat1f(orig_frame.rows, orig_frame.cols);
}
+}
- if (order == nullptr)
- cv::split(orig, (cv::Mat*) ch);
- else
- cv::mixChannels(&orig, 1, (cv::Mat*) ch, order_npairs, order, order_npairs);
-
- for (unsigned k = 0; k < 3; k++)
- ch[k].convertTo(ch_float[k], CV_32F);
+void PointExtractor::ensure_buffers(const cv::Mat& frame)
+{
+ if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
+ {
+ frame_gray = cv::Mat1b(frame.rows, frame.cols);
+ frame_bin = cv::Mat1b(frame.rows, frame.cols);
+ frame_blobs = cv::Mat1b(frame.rows, frame.cols);
+ }
}
-double PointExtractor::threshold_radius_value(int w, int h, int threshold)
+void PointExtractor::extract_single_channel(const cv::Mat& orig_frame, int idx, cv::Mat& dest)
{
- double cx = w / 640., cy = h / 480.;
+ ensure_channel_buffers(orig_frame);
- const double min_radius = 1.75 * cx;
- const double max_radius = 15 * cy;
+ const int from_to[] = {
+ idx, 0,
+ };
- const double radius = std::fmax(0., (max_radius-min_radius) * threshold / 255 + min_radius);
+ cv::mixChannels(&orig_frame, 1, &dest, 1, from_to, 1);
+}
- return radius;
+void PointExtractor::extract_channels(const cv::Mat& orig_frame, const int* order, int order_npairs)
+{
+ ensure_channel_buffers(orig_frame);
+
+ cv::mixChannels(&orig_frame, 1, (cv::Mat*) ch, order_npairs, order, order_npairs);
}
-void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points)
+void PointExtractor::extract_all_channels(const cv::Mat& orig_frame)
{
- using std::sqrt;
- using std::fmax;
- using std::round;
- using std::sort;
+ ensure_channel_buffers(orig_frame);
- if (frame_gray.rows != frame.rows || frame_gray.cols != frame.cols)
- {
- frame_gray = cv::Mat1b(frame.rows, frame.cols);
- frame_bin = cv::Mat1b(frame.rows, frame.cols);
- frame_blobs = cv::Mat1b(frame.rows, frame.cols);
- }
+ cv::split(orig_frame, (cv::Mat*) ch);
+}
- const pt_color_type color = s.blob_color;
+void PointExtractor::channels_to_float(unsigned num_channels)
+{
+ for (unsigned k = 0; k < num_channels; k++)
+ ch[k].convertTo(ch_float[k], CV_32F);
+}
- switch (color)
+void PointExtractor::color_to_grayscale(const cv::Mat& frame, cv::Mat& output)
+{
+ switch (s.blob_color)
{
case pt_color_floppy_filter:
{
@@ -141,50 +154,79 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
1, 1
};
- separate_channels(frame, from_to, 2);
+ extract_channels(frame, from_to, 2);
+ channels_to_float(2);
- cv::addWeighted(ch_float[0], B, ch_float[1], 1-B, 0, ch_float[2], 1);
- ch_float[2].convertTo(frame_gray, CV_8U);
+ cv::addWeighted(ch_float[0], B, ch_float[1], 1-B, 0, ch_float[2]);
+ ch_float[2].convertTo(output, CV_8U);
break;
}
+ case pt_color_blue_only:
+ {
+ extract_single_channel(frame, 0, output);
+ break;
+ }
case pt_color_red_only:
{
- static constexpr int from_to[] = {
- 2, 0 // red
- };
+ extract_single_channel(frame, 2, output);
+ break;
+ }
+ case pt_color_smoothed_average:
+ {
+ extract_all_channels(frame);
+ channels_to_float(3);
+ ch_float[3] = (ch_float[0] + ch_float[1] + ch_float[2]) * (1./3);
+ ch_float[3].convertTo(ch[0], CV_8U);
+
+ const float diagonal = std::sqrt(frame.rows*frame.rows + frame.cols*frame.cols);
+ static constexpr float standard_diagonal = 800; // 640x480 diagonal. sqrt isn't constexpr.
- separate_channels(frame, from_to, 1);
+ const unsigned iters = diagonal / standard_diagonal;
+
+ if (iters > 0)
+ {
+ Timer t;
+
+ int i1 = ~0, i2 = ~0;
+
+ for (unsigned k = 0; k < iters; k++)
+ {
+ i1 = k&1;
+ i2 = 1 - i1;
+
+ cv::GaussianBlur(ch[i1], ch[i2], cv::Size(3, 3), 0, 0, cv::BORDER_REPLICATE);
+ }
+
+ ch[i2].copyTo(output);
+ }
- ch_float[0].convertTo(frame_gray, CV_8U);
break;
}
default:
- once_only(qDebug() << "wrong pt_color_type enum value" << int(color));
+ once_only(qDebug() << "wrong pt_color_type enum value" << int(s.blob_color));
/*FALLTHROUGH*/
case pt_color_average:
{
- separate_channels(frame, nullptr);
+ extract_all_channels(frame);
+ channels_to_float(3);
ch_float[3] = (ch_float[0] + ch_float[1] + ch_float[2]) * (1./3);
- ch_float[3].convertTo(frame_gray, CV_8U);
+ ch_float[3].convertTo(output, CV_8U);
break;
}
case pt_color_natural:
- cv::cvtColor(frame, frame_gray, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(frame, output, cv::COLOR_BGR2GRAY);
break;
}
+}
- //cv::imshow("capture", frame_gray);
- //cv::waitKey(1);
-
- const double region_size_min = s.min_point_size;
- const double region_size_max = s.max_point_size;
-
+void PointExtractor::threshold_image(const cv::Mat& frame_gray, cv::Mat& output)
+{
const int threshold_slider_value = s.threshold_slider.to<int>();
if (!s.auto_threshold)
{
- cv::threshold(frame_gray, frame_bin, threshold_slider_value, 255, cv::THRESH_BINARY);
+ cv::threshold(frame_gray, output, threshold_slider_value, 255, cv::THRESH_BINARY);
}
else
{
@@ -201,7 +243,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
(int const*) &hist_size,
&ranges);
- const double radius = threshold_radius_value(frame.cols, frame.rows, threshold_slider_value);
+ 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));
const unsigned area = uround(3 * M_PI * radius*radius);
@@ -217,12 +259,41 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
}
}
- cv::threshold(frame_gray, frame_bin, thres, 255, CV_THRESH_BINARY);
+ cv::threshold(frame_gray, output, thres, 255, CV_THRESH_BINARY);
}
+}
+
+double PointExtractor::threshold_radius_value(int w, int h, int threshold)
+{
+ double cx = w / 640., cy = h / 480.;
+
+ const double min_radius = 1.75 * cx;
+ const double max_radius = 15 * cy;
+
+ const double radius = std::fmax(0., (max_radius-min_radius) * threshold / 255 + min_radius);
+
+ return radius;
+}
+
+void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points)
+{
+ ensure_buffers(frame);
+
+ color_to_grayscale(frame, frame_gray);
+
+#if defined PREVIEW
+ cv::imshow("capture", frame_gray);
+ cv::waitKey(1);
+#endif
+
+ threshold_image(frame_gray, frame_bin);
blobs.clear();
frame_bin.copyTo(frame_blobs);
+ const f region_size_min = s.min_point_size;
+ const f region_size_max = s.max_point_size;
+
unsigned idx = 0;
for (int y=0; y < frame_blobs.rows; y++)
{
@@ -272,11 +343,11 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
}
if (norm > 0)
{
- const double radius = sqrt(cnt / M_PI), N = double(norm);
+ 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/sqrt(double(cnt)), rect);
+ blob b(radius, cv::Vec2d(m10 / N, m01 / N), N/std::sqrt(double(cnt)), rect);
blobs.push_back(b);
{
@@ -292,8 +363,9 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
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[64];
- sprintf(buf, "%.2fpx", radius);
+ char buf[16];
+ std::snprintf(buf, sizeof(buf), "%.2fpx", radius);
+ buf[sizeof(buf)-1] = '\0';
cv::putText(preview_frame,
buf,
@@ -310,7 +382,7 @@ void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame
}
end:
- 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) -> bool { return b2.brightness < b1.brightness; });
const int W = frame.cols;
const int H = frame.rows;
@@ -330,15 +402,15 @@ end:
// smaller values mean more changes. 1 makes too many changes while 1.5 makes about .1
// seems values close to 1.3 reduce noise best with about .15->.2 changes
- static constexpr double radius_c = 1.5;
+ static constexpr f radius_c = f(1.75);
- const double kernel_radius = b.radius * radius_c;
- cv::Vec2d pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI.
+ const f kernel_radius = b.radius * radius_c;
+ vec2 pos(b.pos[0] - rect.x, b.pos[1] - rect.y); // position relative to ROI.
for (int iter = 0; iter < 10; ++iter)
{
- cv::Vec2d com_new = MeanShiftIteration(frame_roi, pos, kernel_radius);
- cv::Vec2d delta = com_new - pos;
+ vec2 com_new = MeanShiftIteration(frame_roi, pos, kernel_radius);
+ vec2 delta = com_new - pos;
pos = com_new;
if (delta.dot(delta) < 1e-2)
break;
@@ -361,7 +433,7 @@ end:
}
}
-blob::blob(double radius, const cv::Vec2d& pos, double brightness, cv::Rect& rect) :
+blob::blob(f radius, const vec2& pos, f brightness, cv::Rect& rect) :
radius(radius), brightness(brightness), pos(pos), rect(rect)
{
//qDebug() << "radius" << radius << "pos" << pos[0] << pos[1];
diff --git a/tracker-pt/point_extractor.h b/tracker-pt/point_extractor.h
index fd32e94b..b085c602 100644
--- a/tracker-pt/point_extractor.h
+++ b/tracker-pt/point_extractor.h
@@ -23,11 +23,11 @@ using namespace types;
struct blob
{
- double radius, brightness;
+ f radius, brightness;
vec2 pos;
cv::Rect rect;
- blob(double radius, const cv::Vec2d& pos, double brightness, cv::Rect &rect);
+ blob(f radius, const vec2& pos, f brightness, cv::Rect &rect);
};
class PointExtractor final
@@ -51,7 +51,16 @@ private:
std::vector<blob> blobs;
cv::Mat ch[3], ch_float[4];
- void separate_channels(cv::Mat const& orig_frame, int const* order = nullptr, int order_cnt = -1);
+ void ensure_channel_buffers(const cv::Mat& orig_frame);
+ void ensure_buffers(const cv::Mat& frame);
+
+ void extract_single_channel(const cv::Mat& orig_frame, int idx, cv::Mat& dest);
+ void extract_channels(const cv::Mat& orig_frame, const int* order, int order_npairs);
+ void extract_all_channels(const cv::Mat& orig_frame);
+ void channels_to_float(unsigned num_channels);
+
+ void color_to_grayscale(const cv::Mat& frame, cv::Mat& output);
+ void threshold_image(const cv::Mat& frame_gray, cv::Mat& output);
};
} // ns impl
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-14 06:49:38 +0000