From 37816cd1610b6f33a7cb9afbfe492248ec7cb38e Mon Sep 17 00:00:00 2001
From: lhark <lhark@hotmail.fr>
Date: Mon, 30 May 2016 16:49:44 +0200
Subject: [PATCH] FIx crop ratio

---
 src/papillon.cpp | 31 ++++++++++++++++++-------------
 1 file changed, 18 insertions(+), 13 deletions(-)

diff --git a/src/papillon.cpp b/src/papillon.cpp
index 34dce88..06ad524 100644
--- a/src/papillon.cpp
+++ b/src/papillon.cpp
@@ -13,10 +13,10 @@ using namespace std;
 
 class Traite_image {
 	public:
-		const static int SENSITIVITY_VALUE = 30;
+		const static int SENSITIVITY_VALUE = 40;
 		const static int BLUR_SIZE = 10;
-		
-        
+
+
 		Mat prev;
 		Mat last_T;
 		bool first = true;
@@ -67,16 +67,21 @@ class Traite_image {
 
 			Mat next_stab;
 			stabiliseImg(prev, next, next_stab);
-            Rect myROI(next_stab.size().width/8, next_stab.size().height/8, next_stab.size().width*3/4, next_stab.size().height*3/4);
-            Mat next_stab_cropped = next_stab(myROI);
-            Mat prev_cropped = prev(myROI);
+			int crop_ratio = 6;
+			float crop_x = next_stab.size().width/crop_ratio;
+			float crop_y = next_stab.size().height/crop_ratio;
+			float crop_w = next_stab.size().width*(1-2.0/crop_ratio);
+			float crop_h = next_stab.size().height*(1-2.0/crop_ratio);
+			Rect myROI(crop_x, crop_y, crop_w, crop_h);
+			Mat next_stab_cropped = next_stab(myROI);
+			Mat prev_cropped = prev(myROI);
 			searchForMovement(prev_cropped, next_stab_cropped, output);
 
 
 			pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
 			// bridge_input is handled by a smart-pointer. No explicit delete needed.
-            
-            droneTracking(Rect(Point(0,0), output.size()));
+
+            //droneTracking(Rect(Point(0,0), output.size()));
 
 			//ROS_INFO("pub");
 
@@ -186,14 +191,14 @@ class Traite_image {
 			return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
 		}
 
-        
-        void droneTracking(Rect img_size) 
+
+        void droneTracking(Rect img_size)
         {
             Point2f centre_image = Point2f(img_size.width/2, img_size.height/2);
             Point2f centre_rect = Point2f(objectBoundingRectangle.x + objectBoundingRectangle.width/2, objectBoundingRectangle.y + objectBoundingRectangle.height/2);
-            
+
             geometry_msgs::Twist twist = geometry_msgs::Twist();
-            
+
             if(centre_rect.x < centre_image.x)
             {
                 twist.angular.z = 0.2;
@@ -202,7 +207,7 @@ class Traite_image {
             {
                 twist.angular.z = -0.2;
             }
-            
+
             pub_cmd.publish(twist);
         }
 };