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add threshold to movement

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samilyjcc 2016-06-01 17:45:32 +02:00
parent ce831fb167
commit e4ac1b70af
1 changed files with 9 additions and 13 deletions
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22
src/papillon.cpp
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@ -14,14 +14,15 @@ using namespace std;
class Traite_image { class Traite_image {
public: public:
const static int SENSITIVITY_VALUE = 10; const static int THRESHOLD_DETECT_SENSITIVITY = 10;
const static int BLUR_SIZE = 5; const static int BLUR_SIZE = 5;
const static int THRESHOLD_MOV = 5;
Mat prev; Mat prev;
Mat last_T; Mat last_T;
bool first = true; bool first = true;
int resize_f = 1; int resize_f = 2;
int theObject[2] = {0,0}; int theObject[2] = {0,0};
Rect objectBoundingRectangle = Rect(0,0,0,0); Rect objectBoundingRectangle = Rect(0,0,0,0);
@ -138,10 +139,10 @@ class Traite_image {
// Subtract the 2 last frames and threshold them // Subtract the 2 last frames and threshold them
Mat thres; Mat thres;
absdiff(prev_grey,cur_grey,thres); absdiff(prev_grey,cur_grey,thres);
threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
// Blur to eliminate noise // Blur to eliminate noise
blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE)); blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
//notice how we use the '&' operator for objectDetected and output. This is because we wish //notice how we use the '&' operator for objectDetected and output. This is because we wish
//to take the values passed into the function and manipulate them, rather than just working with a copy. //to take the values passed into the function and manipulate them, rather than just working with a copy.
@ -195,10 +196,10 @@ class Traite_image {
split(flow, flow_coord); split(flow, flow_coord);
cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle); cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle);
//threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY); //threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
// Blur to eliminate noise // Blur to eliminate noise
blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE)); blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY); threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
flow_norm.convertTo(flow_norm, CV_8U); flow_norm.convertTo(flow_norm, CV_8U);
bool objectDetected = false; bool objectDetected = false;
@ -236,11 +237,6 @@ class Traite_image {
//write the position of the object to the screen //write the position of the object to the screen
putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2); putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
}
void get_norm(Mat coord, Mat &norm)
{
//for(i=0; i<
} }
inline bool isFlowCorrect(Point2f u) inline bool isFlowCorrect(Point2f u)
@ -256,11 +252,11 @@ class Traite_image {
geometry_msgs::Twist twist = geometry_msgs::Twist(); geometry_msgs::Twist twist = geometry_msgs::Twist();
if(centre_rect.x < centre_image.x) if(centre_rect.x < centre_image.x-THRESHOLD_MOV)
{ {
twist.angular.z = 0.2; twist.angular.z = 0.2;
} }
else if(centre_rect.x > centre_image.x) else if(centre_rect.x > centre_image.x+THRESHOLD_MOV)
{ {
twist.angular.z = -0.2; twist.angular.z = -0.2;
} }