Merge branch 'master' of http://gitlab.rezometz.org/lhark/papillon

src/papillon.cpp

@@ -61,6 +61,10 @@ class Traite_image {
 			cv::Mat next;
 			resize(input, next, cv::Size(input.size().width/resize_f, input.size().height/resize_f));
 			cv::Mat output;
+			next.copyTo(output);
+			
+			cv::cvtColor(next, next, cv::COLOR_BGR2GRAY);
+			
 			if (first) {
 				for (int i = 0; i < NB_FRAME_DROP; ++i) {
 					prevs.push_back(next.clone());
@@ -90,11 +94,7 @@ class Traite_image {
 			prevs.insert(prevs.begin(), next.clone());
 		}
 
-		void stabiliseImg(cv::Mat prev, cv::Mat cur, cv::Mat &output){
-			cv::Mat cur_grey, prev_grey;
-			cv::cvtColor(cur, cur_grey, cv::COLOR_BGR2GRAY);
-			cv::cvtColor(prev, prev_grey, cv::COLOR_BGR2GRAY);
-
+		void stabiliseImg(cv::Mat prev_grey, cv::Mat cur_grey, cv::Mat &output){
 			// vector from prev to cur
 			vector <cv::Point2f> prev_corner, cur_corner;
 			vector <cv::Point2f> prev_corner2, cur_corner2;
@@ -119,14 +119,10 @@ class Traite_image {
 			}
 			T.copyTo(last_T);
 
-			cv::warpAffine(cur, output, T, cur.size(),cv::INTER_CUBIC|cv::WARP_INVERSE_MAP);
+			cv::warpAffine(cur_grey, output, T, cur_grey.size(),cv::INTER_CUBIC|cv::WARP_INVERSE_MAP);
 		}
 
-		void searchForMovement(cv::Mat prev, cv::Mat cur, cv::Mat &output, cv::Mat &out2){
-			cv::Mat cur_grey, prev_grey;
-			cur.copyTo(output);
-			cv::cvtColor(prev, prev_grey, cv::COLOR_BGR2GRAY);
-			cv::cvtColor(cur, cur_grey, cv::COLOR_BGR2GRAY);
+		void searchForMovement(cv::Mat prev_grey, cv::Mat cur_grey, cv::Mat &output, cv::Mat &out2){
 			cv::GaussianBlur(prev_grey, prev_grey, cv::Size(BLUR_SIZE,BLUR_SIZE), 3.0);
 			cv::GaussianBlur(cur_grey, cur_grey, cv::Size(BLUR_SIZE,BLUR_SIZE), 3.0);
 
@@ -165,17 +161,17 @@ class Traite_image {
 				}
 
 				vector<cv::Rect> c_rects; // Connected rectangles
-				cleanBBoxes(nc_rects, cur.size(), c_rects);
+				cleanBBoxes(nc_rects, cur_grey.size(), c_rects);
 				if (c_rects.size() > 0) {
 					for (const auto& rect : c_rects)
 						cv::rectangle(output, rect, cv::Scalar(0, 255, 0), 2);
 
 					cv::Rect objBRect = c_rects.front();
 					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;
+					bbox.x = objBRect.x / (float)cur_grey.size().width;
+					bbox.y = objBRect.y / (float)cur_grey.size().height;
+					bbox.width = objBRect.width / (float)cur_grey.size().width;
+					bbox.height = objBRect.height / (float)cur_grey.size().height;
 					pub_cmd.publish(bbox);
 				}
 			}