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-rw-r--r--tracker-pt/point_extractor.cpp26
1 files changed, 17 insertions, 9 deletions
diff --git a/tracker-pt/point_extractor.cpp b/tracker-pt/point_extractor.cpp
index 274c0ccb..ce3edb4a 100644
--- a/tracker-pt/point_extractor.cpp
+++ b/tracker-pt/point_extractor.cpp
@@ -108,9 +108,13 @@ void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
cv::Scalar(0),
cv::Scalar(0),
8);
- int m00 = 0;
- int m10 = 0;
- int m01 = 0;
+
+ // 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++)
@@ -119,22 +123,26 @@ void PointExtractor::extract_points(cv::Mat& frame, std::vector<vec2>& points)
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;
+ if (ptr_blobs[j] != idx)
+ continue;
+
ptr_blobs[j] = 0;
- const int val = int(ptr_gray[j]);
- m00 += val;
+
+ // 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 (m00 > 0)
+ if (norm > 1e0)
{
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)));
+ blob b(radius, cv::Vec2d(m10 / norm, m01 / norm), norm/sqrt(double(cnt)));
blobs.push_back(b);
{
char buf[64];