WIP
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2 changed files with 72 additions and 16 deletions
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@ -23,6 +23,7 @@ target_link_libraries(papillon ${catkin_LIBRARIES})
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set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
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set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${OpenCV_INCLUDE_DIRS})
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set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})
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set_property (TARGET papillon APPEND PROPERTY INCLUDE_DIRECTORIES ${catkin_INCLUDE_DIRS})
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set_property (TARGET papillon APPEND PROPERTY LINK_LIBRARIES ${OpenCV_LIBRARIES})
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set_property (TARGET papillon APPEND PROPERTY LINK_LIBRARIES ${OpenCV_LIBRARIES})
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set( CMAKE_EXPORT_COMPILE_COMMANDS 1 )
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install(TARGETS papillon DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(TARGETS papillon DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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@ -16,7 +16,7 @@ class Traite_image {
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public:
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public:
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const static int THRESHOLD_DETECT_SENSITIVITY = 10;
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const static int THRESHOLD_DETECT_SENSITIVITY = 10;
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const static int BLUR_SIZE = 5;
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const static int BLUR_SIZE = 5;
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const static int THRESHOLD_MOV = 5;
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const static int THRESHOLD_MOV = 5;
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Mat prev;
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Mat prev;
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@ -237,7 +237,62 @@ class Traite_image {
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//write the position of the object to the screen
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//write the position of the object to the screen
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putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
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putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
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}
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}
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void trackingOptFlow(Mat prev, Mat cur, Mat &output) {
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Mat cur_grey, prev_grey;
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cur.copyTo(output);
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cvtColor(prev, prev_grey, COLOR_BGR2GRAY);
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cvtColor(cur, cur_grey, COLOR_BGR2GRAY);
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Mat flow;
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calcOpticalFlowFarneback(prev_grey, cur_grey, flow, 0.5, 3, 15, 3, 5, 1.2, 0);
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vector<Mat> flow_coord(2);
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Mat flow_norm, angle;
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split(flow, flow_coord);
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cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle);
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//threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
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// Blur to eliminate noise
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blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
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threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
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flow_norm.convertTo(flow_norm, CV_8U);
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bool objectDetected = false;
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Mat temp;
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flow_norm.copyTo(temp);
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//these two vectors needed for output of findContours
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vector< vector<Point> > contours;
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vector<Vec4i> hierarchy;
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//find contours of filtered image using openCV findContours function
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//findContours(temp,contours,hierarchy,CV_RETR_CCOMP,CV_CHAIN_APPROX_SIMPLE );// retrieves all contours
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findContours(temp,contours,hierarchy,CV_RETR_EXTERNAL,CV_CHAIN_APPROX_SIMPLE );// retrieves external contours
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//if contours vector is not empty, we have found some objects
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if(contours.size()>0)objectDetected=true;
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else objectDetected = false;
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if(objectDetected){
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//the largest contour is found at the end of the contours vector
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//we will simply assume that the biggest contour is the object we are looking for.
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vector< vector<Point> > largestContourVec;
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largestContourVec.push_back(contours.at(contours.size()-1));
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//make a bounding rectangle around the largest contour then find its centroid
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//this will be the object's final estimated position.
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objectBoundingRectangle = boundingRect(largestContourVec.at(0));
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}
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//make some temp x and y variables so we dont have to type out so much
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int x = objectBoundingRectangle.x;
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int y = objectBoundingRectangle.y;
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int width = objectBoundingRectangle.width;
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int height = objectBoundingRectangle.height;
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//draw a rectangle around the object
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rectangle(output, Point(x,y), Point(x+width, y+height), Scalar(0, 255, 0), 2);
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//write the position of the object to the screen
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putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
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}
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inline bool isFlowCorrect(Point2f u)
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inline bool isFlowCorrect(Point2f u)
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{
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{
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