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add threshold to movement

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This commit is contained in:
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 {
public:
const static int SENSITIVITY_VALUE = 10;
const static int THRESHOLD_DETECT_SENSITIVITY = 10;
const static int BLUR_SIZE = 5;
const static int THRESHOLD_MOV = 5;
Mat prev;
Mat last_T;
bool first = true;
int resize_f = 1;
int resize_f = 2;
int theObject[2] = {0,0};
Rect objectBoundingRectangle = Rect(0,0,0,0);
@ -138,10 +139,10 @@ class Traite_image {
// Subtract the 2 last frames and threshold them
Mat 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(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
//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);
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(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);
bool objectDetected = false;
@ -238,11 +239,6 @@ class Traite_image {
}
void get_norm(Mat coord, Mat &norm)
{
//for(i=0; i<
}
inline bool isFlowCorrect(Point2f u)
{
return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
@ -256,11 +252,11 @@ class Traite_image {
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;
}
else if(centre_rect.x > centre_image.x)
else if(centre_rect.x > centre_image.x+THRESHOLD_MOV)
{
twist.angular.z = -0.2;
}