lhark/papillon
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FIx crop ratio

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lhark 2016-05-30 16:49:44 +02:00
parent d1687fb7cb
commit 37816cd161
1 changed files with 18 additions and 13 deletions
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31
src/papillon.cpp
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@ -13,10 +13,10 @@ using namespace std;
class Traite_image { class Traite_image {
public: public:
const static int SENSITIVITY_VALUE = 30; const static int SENSITIVITY_VALUE = 40;
const static int BLUR_SIZE = 10; const static int BLUR_SIZE = 10;
Mat prev; Mat prev;
Mat last_T; Mat last_T;
bool first = true; bool first = true;
@ -67,16 +67,21 @@ class Traite_image {
Mat next_stab; Mat next_stab;
stabiliseImg(prev, next, 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); int crop_ratio = 6;
Mat next_stab_cropped = next_stab(myROI); float crop_x = next_stab.size().width/crop_ratio;
Mat prev_cropped = prev(myROI); 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); searchForMovement(prev_cropped, next_stab_cropped, output);
pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg()); pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
// bridge_input is handled by a smart-pointer. No explicit delete needed. // 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"); //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; 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_image = Point2f(img_size.width/2, img_size.height/2);
Point2f centre_rect = Point2f(objectBoundingRectangle.x + objectBoundingRectangle.width/2, objectBoundingRectangle.y + objectBoundingRectangle.height/2); Point2f centre_rect = Point2f(objectBoundingRectangle.x + objectBoundingRectangle.width/2, objectBoundingRectangle.y + objectBoundingRectangle.height/2);
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)
{ {
twist.angular.z = 0.2; twist.angular.z = 0.2;
@ -202,7 +207,7 @@ class Traite_image {
{ {
twist.angular.z = -0.2; twist.angular.z = -0.2;
} }
pub_cmd.publish(twist); pub_cmd.publish(twist);
} }
}; };