From 47a512da1e98b88cd96fc761c567cef4eadd376c Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Thu, 18 Jun 2015 08:45:52 +0200
Subject: flush
It crashes after drawing a frame for now.
---
ftnoir_tracker_pt/point_extractor.cpp | 86 ++++++++---------------------------
1 file changed, 19 insertions(+), 67 deletions(-)
(limited to 'ftnoir_tracker_pt/point_extractor.cpp')
diff --git a/ftnoir_tracker_pt/point_extractor.cpp b/ftnoir_tracker_pt/point_extractor.cpp
index 2c39c2e2..c186f5f2 100644
--- a/ftnoir_tracker_pt/point_extractor.cpp
+++ b/ftnoir_tracker_pt/point_extractor.cpp
@@ -25,58 +25,24 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
const int W = frame.cols;
const int H = frame.rows;
- if (frame_last.cols != W || frame_last.rows != H)
- {
- frame_last = cv::Mat();
- }
-
// clear old points
points.clear();
- // convert to grayscale
- Mat frame_gray;
+ // convert to grayscale
+ Mat frame_gray;
cvtColor(frame, frame_gray, cv::COLOR_RGB2GRAY);
-
- int secondary = s.threshold_secondary;
+
int primary = s.threshold;
- // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
- Mat frame_bin;
- // only used if draw_output
- Mat frame_bin_copy;
- // mask for everything that passes
- Mat frame_bin_low;
- // mask for lower-threshold && combined result of last, needs to remain in scope until drawing, but is only used if secondary != 0
- Mat frame_last_and_low;
-
- if(secondary==0){
- threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY);
- }else{
- // we recombine a number of buffers, this might be slower than a single loop of per-pixel logic
- // but it might as well be faster if openCV makes good use of SIMD
- float t = primary;
- //float hyst = float(threshold_secondary_val)/512.;
- //threshold(frame_gray, frame_bin, (t + ((255.-t)*hyst)), 255, THRESH_BINARY);
- float hyst = float(primary)/(256.*8.);
- threshold(frame_gray, frame_bin, t, 255, THRESH_BINARY);
- threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);
-
- frame_bin.copyTo(frame_bin_copy);
- if(frame_last.empty()){
- frame_bin.copyTo(frame_last);
- }else{
- // keep pixels from last if they are above lower threshold
- bitwise_and(frame_last, frame_bin_low, frame_last_and_low);
- // union of pixels >= higher threshold and pixels >= lower threshold
- bitwise_or(frame_bin, frame_last_and_low, frame_last);
- frame_last.copyTo(frame_bin);
- }
- }
+ // mask for everything that passes the threshold (or: the upper threshold of the hysteresis)
+ Mat frame_bin;
+
+ threshold(frame_gray, frame_bin, primary, 255, THRESH_BINARY);
int min_size = s.min_point_size;
int max_size = s.max_point_size;
- unsigned int region_size_min = 3.14*min_size*min_size/4.0;
+ unsigned int region_size_min = 3.14*min_size*min_size/4.0;
unsigned int region_size_max = 3.14*max_size*max_size/4.0;
int blob_index = 1;
@@ -121,14 +87,9 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
if (frame_bin.at<unsigned char>(i,j) != blob_index-1) continue;
float val;
- if(secondary==0){
- val = frame_gray.at<unsigned char>(i,j);
- val = float(val - primary)/(256 - primary);
- val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
- }else{
- //hysteresis point detection gets stability from ignoring pixel noise so we decidedly leave the actual pixel values out of the picture
- val = frame_last.at<unsigned char>(i,j) / 256.;
- }
+ val = frame_gray.at<unsigned char>(i,j);
+ val = float(val - primary)/(256 - primary);
+ val = val*val; // makes it more stable (less emphasis on low values, more on the peak)
m += val;
mx += j * val;
@@ -143,24 +104,15 @@ std::vector<Vec2f> PointExtractor::extract_points(Mat& frame)
//qDebug()<<blob_index<<" => "<<c[0]<<" "<<c[1];
points.push_back(c);
}
- }
-
- // draw output image
- vector<Mat> channels;
- if(secondary==0){
- frame_bin.setTo(170, frame_bin);
- channels.push_back(frame_gray + frame_bin);
- channels.push_back(frame_gray - frame_bin);
- channels.push_back(frame_gray - frame_bin);
- }else{
- frame_bin_copy.setTo(120, frame_bin_copy);
- //frame_bin_low.setTo(90, frame_bin_low);
- channels.push_back(frame_gray + frame_bin_copy);
- channels.push_back(frame_gray - frame_bin_copy);
- channels.push_back(frame_gray - frame_bin_copy);
- //channels.push_back(frame_gray + frame_bin);
}
+
+ // draw output image
+ vector<Mat> channels;
+ frame_bin.setTo(170, frame_bin);
+ channels.push_back(frame_gray + frame_bin);
+ channels.push_back(frame_gray - frame_bin);
+ channels.push_back(frame_gray - frame_bin);
merge(channels, frame);
-
+
return points;
}
--
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