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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2015-2017 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
* copyright notice and this permission notice appear in all copies.
*/
#include "cv-point-extractor.h"
#include "frame.hpp"
#include "cv/numeric.hpp"
#include "compat/math.hpp"
#include <opencv2/imgproc/types_c.h>
#include <cmath>
#include <algorithm>
#include <cinttypes>
#include <memory>
#include <QDebug>
using namespace numeric_types;
CvPointExtractor::CvPointExtractor(const QString& module_name) : s(module_name)
{
}
void CvPointExtractor::extract_points(const cv::Mat& frame, cv::Mat& aPreview, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
{
// Contours detection
std::vector<std::vector<cv::Point> > contours;
cv::findContours(frame, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
// Workout which countour are valid points
std::vector<std::vector<cv::Point> > balls;
std::vector<cv::Rect> ballsBox;
for (size_t i = 0; i < contours.size(); i++)
{
cv::drawContours(aPreview, contours, i, CV_RGB(255, 0, 0), 2);
cv::Rect bBox;
bBox = cv::boundingRect(contours[i]);
float ratio = (float)bBox.width / (float)bBox.height;
if (ratio > 1.0f)
ratio = 1.0f / ratio;
// Searching for a bBox almost square
float minArea = s.min_point_size*s.min_point_size;
float maxArea = s.max_point_size*s.max_point_size;
if (bBox.width >= s.min_point_size
&& bBox.height >= s.min_point_size
&& bBox.width <= s.max_point_size
&& bBox.height <= s.max_point_size
&& bBox.area() >= minArea
&& bBox.area() <= maxArea
/*&& ratio > 0.75 &&*/)
{
balls.push_back(contours[i]);
ballsBox.push_back(bBox);
vec2 center;
center[0] = bBox.x + bBox.width / 2;
center[1] = bBox.y + bBox.height / 2;
imagePoints.push_back(vec2(center));
cv::rectangle(aPreview, bBox, CV_RGB(0, 255, 0), 2);
}
}
// Keep the three points which are highest, i.e. with lowest Y coordinates
// That's most usefull to discard noise from features below your cap/head.
// Typically noise comming from zippers and metal parts on your clothing.
// With a cap tracker it also successfully discards noise glasses.
// However it may not work as good with a clip user wearing glasses.
while (imagePoints.size() > 3) // Until we have no more than three points
{
int maxY = 0;
int index = -1;
// Search for the point with highest Y coordinate
for (size_t i = 0; i < imagePoints.size(); i++)
{
if (imagePoints[i][1] > maxY)
{
maxY = imagePoints[i][1];
index = i;
}
}
// Discard it
imagePoints.erase(imagePoints.begin() + index);
}
}
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