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Thresholding, more transform tweaks.

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This commit is contained in:
Andrzej Kapolka 2013-08-29 16:44:56 -07:00
parent c23eb92da9
commit fe47c6c387
2 changed files with 17 additions and 5 deletions
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21
interface/src/Webcam.cpp
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@ -348,8 +348,10 @@ void Webcam::setFrame(const Mat& color, int format, const Mat& depth, float midF
const float POSITION_SMOOTHING = 0.5f;
_estimatedPosition = glm::mix(position - _initialLEDPosition, _estimatedPosition, POSITION_SMOOTHING);
const float ROTATION_SMOOTHING = 0.5f;
_estimatedRotation = glm::mix(safeEulerAngles(rotation * glm::inverse(_initialLEDRotation)),
_estimatedRotation, ROTATION_SMOOTHING);
glm::vec3 eulers = safeEulerAngles(rotation * glm::inverse(_initialLEDRotation));
eulers.y = -eulers.y;
eulers.z = -eulers.z;
_estimatedRotation = glm::mix(eulers, _estimatedRotation, ROTATION_SMOOTHING);
}
}
} else {
@ -393,11 +395,11 @@ static SimpleBlobDetector::Params createBlobDetectorParams() {
SimpleBlobDetector::Params params;
params.blobColor = 255;
params.filterByArea = true;
params.minArea = 5;
params.minArea = 4;
params.maxArea = 5000;
params.filterByCircularity = false;
params.filterByInertia = false;
params.filterByConvexity = true;
params.filterByConvexity = false;
return params;
}
@ -717,8 +719,17 @@ void FrameGrabber::grabFrame() {
KeyPointVector keyPoints;
if (_ledTrackingOn) {
// convert to grayscale
cvtColor(color, _grayFrame, format == GL_RGB ? CV_RGB2GRAY : CV_BGR2GRAY);
// apply threshold
threshold(_grayFrame, _grayFrame, 28.0, 255.0, THRESH_BINARY);
// convert back so that we can see
cvtColor(_grayFrame, color, format == GL_RGB ? CV_GRAY2RGB : CV_GRAY2BGR);
// find the locations of the LEDs, which should show up as blobs
_blobDetector.detect(color, keyPoints);
_blobDetector.detect(_grayFrame, keyPoints);
}
const ushort ELEVEN_BIT_MINIMUM = 0;

1
interface/src/Webcam.h
View file

@ -162,6 +162,7 @@ private:
cv::RotatedRect _smoothedFaceRect;
cv::SimpleBlobDetector _blobDetector;
cv::Mat _grayFrame;
QVideoFrame _videoFrame;
cv::Mat _videoColor;