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Frame drop

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lhark 2016-06-14 16:56:12 +02:00
parent 8fe8b8a1ca
commit 809c4d3ad2
1 changed files with 10 additions and 6 deletions
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16
src/papillon.cpp
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@ -16,9 +16,10 @@ class Traite_image {
const static int BLUR_Size = 9; const static int BLUR_Size = 9;
const static int CLOSE_SIZE = 20; const static int CLOSE_SIZE = 20;
const static int ERODE_SIZE = 2; const static int ERODE_SIZE = 2;
const static int NB_FRAME_DROP = 2;
cv::Mat prev; vector<cv::Mat> prevs;
cv::Mat last_T; cv::Mat last_T;
bool first = true; bool first = true;
int resize_f = 1; int resize_f = 1;
@ -63,13 +64,15 @@ class Traite_image {
cv::Mat output;// = input.clone(); // (input.rows, input.cols, CV_32FC2); cv::Mat output;// = input.clone(); // (input.rows, input.cols, CV_32FC2);
//ROS_INFO("got input"); //ROS_INFO("got input");
if (first) { if (first) {
prev = next.clone(); for (int i = 0; i < NB_FRAME_DROP; ++i) {
prevs.push_back(next.clone());
}
first = false; first = false;
ROS_INFO("first done"); ROS_INFO("first done");
} }
cv::Mat next_stab; cv::Mat next_stab;
stabiliseImg(prev, next, next_stab); stabiliseImg(prevs.back(), next, next_stab);
int crop_ratio = 6; int crop_ratio = 6;
float crop_x = next_stab.size().width/crop_ratio; float crop_x = next_stab.size().width/crop_ratio;
float crop_y = next_stab.size().height/crop_ratio; float crop_y = next_stab.size().height/crop_ratio;
@ -77,7 +80,7 @@ class Traite_image {
float crop_h = next_stab.size().height*(1-2.0/crop_ratio); float crop_h = next_stab.size().height*(1-2.0/crop_ratio);
cv::Rect myROI(crop_x, crop_y, crop_w, crop_h); cv::Rect myROI(crop_x, crop_y, crop_w, crop_h);
cv::Mat next_stab_cropped = next_stab(myROI); cv::Mat next_stab_cropped = next_stab(myROI);
cv::Mat prev_cropped = prev(myROI); cv::Mat prev_cropped = prevs.back()(myROI);
cv::Mat closed_thres; cv::Mat closed_thres;
searchForMovement(prev_cropped, next_stab_cropped, output, closed_thres); searchForMovement(prev_cropped, next_stab_cropped, output, closed_thres);
@ -90,7 +93,8 @@ class Traite_image {
//ROS_INFO("pub"); //ROS_INFO("pub");
prev = next.clone(); prevs.pop_back();
prevs.insert(prevs.begin(), next.clone());
} }
//int to string helper function //int to string helper function
@ -163,7 +167,6 @@ class Traite_image {
cv::erode(thres, thres, element ); cv::erode(thres, thres, element );
thres.copyTo(out2);
cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY); cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY);
@ -172,6 +175,7 @@ class Traite_image {
cv::morphologyEx( thres, closed_thres, cv::MORPH_CLOSE, structuringElement ); cv::morphologyEx( thres, closed_thres, cv::MORPH_CLOSE, structuringElement );
// dilated_thres.copyTo(output); // dilated_thres.copyTo(output);
closed_thres.copyTo(out2);
//closed_thres.copyTo(output); //closed_thres.copyTo(output);