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Tracking tweaks

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lhark 2016-06-15 17:29:51 +02:00
parent de402960c6
commit 284c115b1c
1 changed files with 18 additions and 16 deletions
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32
src/papillon.cpp
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@ -12,11 +12,11 @@ using namespace std;
class Traite_image { class Traite_image {
public: public:
const static int SENSITIVITY_VALUE = 40; const static int SENSITIVITY_VALUE = 35;
const static int BLUR_Size = 9; const static int BLUR_Size = 9;
const static int CLOSE_SIZE = 20; const static int CLOSE_SIZE = 20;
const static int ERODE_SIZE = 2; const static int ERODE_SIZE = 5;
const static int NB_FRAME_DROP = 2; const static int NB_FRAME_DROP = 3;
vector<cv::Mat> prevs; vector<cv::Mat> prevs;
@ -25,7 +25,6 @@ class Traite_image {
int resize_f = 1; int resize_f = 1;
int theObject[2] = {0,0}; int theObject[2] = {0,0};
cv::Rect objectBoundingRectangle = cv::Rect(0,0,0,0);
ros::NodeHandle n; ros::NodeHandle n;
@ -62,7 +61,6 @@ class Traite_image {
cv::Mat next; cv::Mat next;
resize(input, next, cv::Size(input.size().width/resize_f, input.size().height/resize_f)); resize(input, next, cv::Size(input.size().width/resize_f, input.size().height/resize_f));
cv::Mat output;// = input.clone(); // (input.rows, input.cols, CV_32FC2); cv::Mat output;// = input.clone(); // (input.rows, input.cols, CV_32FC2);
//ROS_INFO("got input");
if (first) { if (first) {
for (int i = 0; i < NB_FRAME_DROP; ++i) { for (int i = 0; i < NB_FRAME_DROP; ++i) {
prevs.push_back(next.clone()); prevs.push_back(next.clone());
@ -91,8 +89,6 @@ class Traite_image {
//droneTracking(Rect(Point(0,0), output.size())); //droneTracking(Rect(Point(0,0), output.size()));
//ROS_INFO("pub");
prevs.pop_back(); prevs.pop_back();
prevs.insert(prevs.begin(), next.clone()); prevs.insert(prevs.begin(), next.clone());
} }
@ -155,7 +151,6 @@ class Traite_image {
// Subtract the 2 last frames and threshold them // Subtract the 2 last frames and threshold them
cv::Mat thres; cv::Mat thres;
cv::absdiff(prev_grey,cur_grey,thres); cv::absdiff(prev_grey,cur_grey,thres);
thres = 3 * thres;
// threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); // threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
// // Blur to eliminate noise // // Blur to eliminate noise
// blur(thres, thres, cv::Size(BLUR_Size, BLUR_Size)); // blur(thres, thres, cv::Size(BLUR_Size, BLUR_Size));
@ -166,6 +161,7 @@ class Traite_image {
// Apply the dilation operation // Apply the dilation operation
cv::erode(thres, thres, element ); cv::erode(thres, thres, element );
thres.copyTo(out2);
cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY); cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY);
@ -175,7 +171,6 @@ class Traite_image {
cv::morphologyEx( thres, closed_thres, cv::MORPH_CLOSE, structuringElement ); cv::morphologyEx( thres, closed_thres, cv::MORPH_CLOSE, structuringElement );
// dilated_thres.copyTo(output); // dilated_thres.copyTo(output);
closed_thres.copyTo(out2);
//closed_thres.copyTo(output); //closed_thres.copyTo(output);
@ -203,14 +198,21 @@ class Traite_image {
//largestContourVec.push_back(contours.at(contours.size()-1)); //largestContourVec.push_back(contours.at(contours.size()-1));
//make a bounding rectangle around the largest contour then find its centroid //make a bounding rectangle around the largest contour then find its centroid
//this will be the object's final esticv::Mated position. //this will be the object's final esticv::Mated position.
//~ for(int i=0; i<contours.size();i++) cv::Rect objectBoundingRectangle;
//~ { for(int i=0; i<contours.size();i++)
//~ objectBoundingRectangle = cv::boundingRect(contours[i]); {
//~ cv::rectangle(output, objectBoundingRectangle, cv::Scalar(0, 255, 0), 2); objectBoundingRectangle = cv::boundingRect(contours[i]);
//~ }
objectBoundingRectangle = cv::boundingRect(contours.at(contours.size()-1));
cv::rectangle(output, objectBoundingRectangle, cv::Scalar(0, 255, 0), 2); cv::rectangle(output, objectBoundingRectangle, cv::Scalar(0, 255, 0), 2);
} }
cv::Rect objBRect = cv::boundingRect(contours.at(contours.size()-1));
//cv::rectangle(output, objBRect, cv::Scalar(0, 255, 0), 2);
papillon::BoundingBox bbox = papillon::BoundingBox();
bbox.x = objBRect.x / (float)cur.size().width;
bbox.y = objBRect.y / (float)cur.size().height;
bbox.width = objBRect.width / (float)cur.size().width;
bbox.height = objBRect.height / (float)cur.size().height;
pub_cmd.publish(bbox);
}
//make some temp x and y variables so we dont have to type out so much //make some temp x and y variables so we dont have to type out so much
//~ int x = objectBoundingRectangle.x; //~ int x = objectBoundingRectangle.x;
//~ int y = objectBoundingRectangle.y; //~ int y = objectBoundingRectangle.y;