changed detection to opt flow
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1 changed files with 65 additions and 3 deletions
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@ -3,6 +3,7 @@
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <geometry_msgs/Twist.h>
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#include <typeinfo>
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#include <opencv/cv.h>
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@ -13,8 +14,8 @@ using namespace std;
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class Traite_image {
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public:
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const static int SENSITIVITY_VALUE = 30;
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const static int BLUR_SIZE = 10;
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const static int SENSITIVITY_VALUE = 10;
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const static int BLUR_SIZE = 5;
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Mat prev;
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@ -70,7 +71,7 @@ class Traite_image {
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Rect myROI(next_stab.size().width/8, next_stab.size().height/8, next_stab.size().width*3/4, next_stab.size().height*3/4);
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Mat next_stab_cropped = next_stab(myROI);
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Mat prev_cropped = prev(myROI);
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searchForMovement(prev_cropped, next_stab_cropped, output);
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searchForMovementOptFlow(prev_cropped, next_stab_cropped, output);
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pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
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@ -181,6 +182,67 @@ class Traite_image {
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putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
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}
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void searchForMovementOptFlow(Mat prev, Mat cur, Mat &output){
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Mat cur_grey, prev_grey;
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cur.copyTo(output);
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cvtColor(prev, prev_grey, COLOR_BGR2GRAY);
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cvtColor(cur, cur_grey, COLOR_BGR2GRAY);
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Mat flow;
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calcOpticalFlowFarneback(prev_grey, cur_grey, flow, 0.5, 3, 15, 3, 5, 1.2, 0);
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vector<Mat> flow_coord(2);
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Mat flow_norm, angle;
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split(flow, flow_coord);
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cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle);
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//threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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// Blur to eliminate noise
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blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
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threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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flow_norm.convertTo(flow_norm, CV_8U);
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bool objectDetected = false;
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Mat temp;
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flow_norm.copyTo(temp);
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//these two vectors needed for output of findContours
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vector< vector<Point> > contours;
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vector<Vec4i> hierarchy;
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//find contours of filtered image using openCV findContours function
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//findContours(temp,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );// retrieves all contours
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findContours(temp,contours,hierarchy,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE );// retrieves external contours
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//if contours vector is not empty, we have found some objects
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if(contours.size()>0)objectDetected=true;
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else objectDetected = false;
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if(objectDetected){
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//the largest contour is found at the end of the contours vector
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//we will simply assume that the biggest contour is the object we are looking for.
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vector< vector<Point> > largestContourVec;
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largestContourVec.push_back(contours.at(contours.size()-1));
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//make a bounding rectangle around the largest contour then find its centroid
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//this will be the object's final estimated position.
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objectBoundingRectangle = boundingRect(largestContourVec.at(0));
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}
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//make some temp x and y variables so we dont have to type out so much
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int x = objectBoundingRectangle.x;
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int y = objectBoundingRectangle.y;
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int width = objectBoundingRectangle.width;
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int height = objectBoundingRectangle.height;
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//draw a rectangle around the object
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rectangle(output, Point(x,y), Point(x+width, y+height), Scalar(0, 255, 0), 2);
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//write the position of the object to the screen
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putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
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}
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void get_norm(Mat coord, Mat &norm)
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{
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//for(i=0; i<
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}
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inline bool isFlowCorrect(Point2f u)
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{
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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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