lhark/papillon
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copying code

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This commit is contained in:
samilyjcc 2016-05-23 15:58:52 +02:00
parent 0d8efd2f05
commit 8bd67f3203
1 changed files with 40 additions and 17 deletions
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57
src/papillon.cpp
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@ -14,6 +14,8 @@ class Traite_image {
public:
const static int SENSITIVITY_VALUE = 30;
const static int BLUR_SIZE = 10;
const int HORIZONTAL_BORDER_CROP = 20; // In pixels. Crops the border to reduce the black borders from stabilisation being too noticeable.
Mat prev;
Mat last_T;
@ -52,9 +54,7 @@ class Traite_image {
//Mat& input = const_cast<Mat&>(bridge_input->image);
const Mat& input = bridge_input->image;
Mat next;
Mat next_grey;
resize(input, next, Size(input.size().width/resize_f, input.size().height/resize_f));
cvtColor(next, next_grey, CV_BGR2GRAY);
Mat output;// = input.clone(); // (input.rows, input.cols, CV_32FC2);
//ROS_INFO("got input");
if (first) {
@ -95,8 +95,8 @@ class Traite_image {
Mat prev_grey, cur_grey;
cvtColor(cur, cur_grey, COLOR_BGR2GRAY);
cvtColor(prev, prev_grey, COLOR_BGR2GRAY);
Point2f srcTri[3];
Point2f dstTri[3];
//Point2f srcTri[3];
//Point2f dstTri[3];
Mat warp_mat( 2, 3, CV_32FC1 );
// vector from prev to cur
@ -117,9 +117,19 @@ class Traite_image {
}
// translation + rotation only
Mat T(2, 3, CV_32FC1);
T = estimateRigidTransform(prev_corner2, cur_corner2, false); // false = rigid transform, no scaling/shearing
// Mat T(2, 3, CV_32FC1);
Mat T = estimateRigidTransform(prev_corner2, cur_corner2, false); // false = rigid transform, no scaling/shearing
ROS_INFO("coucou1");
// in rare cases no transform is found. We'll just use the last known good transform.
/*if(T.data == NULL) {
last_T = T.clone();
}
T = last_T.clone();*/
ROS_INFO("coucou2");
// decompose T
double dx = T.at<double>(0,2);
double dy = T.at<double>(1,2);
double da = atan2(T.at<double>(1,0), T.at<double>(0,0));
@ -136,19 +146,30 @@ class Traite_image {
// H.at<double>(2,1) = 0.0;
// H.at<double>(2,2) = 1.0;
T.at<double>(0,0) = cos(da);
T.at<double>(0,1) = -sin(da);
T.at<double>(1,0) = sin(da);
T.at<double>(1,1) = cos(da);
Mat T1(2, 3, CV_32FC1);
T1.at<double>(0,0) = cos(da);
T1.at<double>(0,1) = -sin(da);
T1.at<double>(1,0) = sin(da);
T1.at<double>(1,1) = cos(da);
T.at<double>(0,2) = dx;
T.at<double>(1,2) = dy;
T1.at<double>(0,2) = dx;
T1.at<double>(1,2) = dy;
Mat cur2;
// in rare cases no transform is found. We'll just use the last known good transform.
if(T.data == NULL) {
last_T.copyTo(T);
}
T.copyTo(last_T);
warpAffine(cur, cur2, T1, cur.size());
int vert_border = HORIZONTAL_BORDER_CROP * prev.rows / prev.cols; // get the aspect ratio correct
cur2 = cur2(Range(vert_border, cur2.rows-vert_border), Range(HORIZONTAL_BORDER_CROP, cur2.cols-HORIZONTAL_BORDER_CROP));
// Resize cur2 back to cur size, for better side by side comparison
resize(cur2, cur2, cur.size());
output = cur2.clone();
/*
/// Set your 3 points to calculate the Affine Transform
srcTri[0] = Point2f( 0,0 );
@ -166,6 +187,8 @@ class Traite_image {
warpAffine(cur,cur,warp_mat,cv::Size(prev.cols+cur.cols,prev.rows+cur.rows));
//Mat half(output, cv::Rect(0, 0,cur.cols,cur.rows));
cur.copyTo(output, cur);
*
*/
}
void searchForMovement(Mat thresholdImage, Mat &cameraFeed){