drone angular command
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samilyjcc
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d1687fb7cb
1 changed files with 29 additions and 113 deletions
142
src/papillon.cpp
142
src/papillon.cpp
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@ -2,6 +2,7 @@
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#include <image_transport/image_transport.h>
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#include <cv_bridge/cv_bridge.h>
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#include <sensor_msgs/image_encodings.h>
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#include <geometry_msgs/Twist.h>
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#include <opencv/cv.h>
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@ -14,9 +15,8 @@ class Traite_image {
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public:
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const static int SENSITIVITY_VALUE = 30;
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const static int BLUR_SIZE = 10;
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const int HORIZONTAL_BORDER_CROP = 20; // In pixels. Crops the border to reduce the black borders from stabilisation being too noticeable.
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Mat prev;
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Mat last_T;
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bool first = true;
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@ -28,12 +28,14 @@ class Traite_image {
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ros::NodeHandle n;
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image_transport::ImageTransport it;
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image_transport::Publisher pub;
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image_transport::Publisher pub_img;
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ros::Publisher pub_cmd;
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image_transport::Subscriber sub;
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Traite_image() : n("~"),it(n) {
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pub = it.advertise("/image_out", 1);
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pub_img = it.advertise("/image_out", 1);
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pub_cmd = n.advertise<geometry_msgs::Twist>("/vrep/drone/cmd_vel", 1);
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sub = it.subscribe("/usb_cam/image_raw", 1, [this](const sensor_msgs::ImageConstPtr& img) -> void { this->on_image(img);},ros::VoidPtr(),image_transport::TransportHints("compressed"));
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}
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@ -71,8 +73,10 @@ class Traite_image {
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searchForMovement(prev_cropped, next_stab_cropped, output);
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pub.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
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pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
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// bridge_input is handled by a smart-pointer. No explicit delete needed.
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droneTracking(Rect(Point(0,0), output.size()));
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//ROS_INFO("pub");
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@ -182,113 +186,25 @@ class Traite_image {
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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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}
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Vec3b computeColor(float fx, float fy)
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{
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static bool first = true;
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// relative lengths of color transitions:
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// these are chosen based on perceptual similarity
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// (e.g. one can distinguish more shades between red and yellow
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// than between yellow and green)
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const int RY = 15;
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const int YG = 6;
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const int GC = 4;
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const int CB = 11;
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const int BM = 13;
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const int MR = 6;
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const int NCOLS = RY + YG + GC + CB + BM + MR;
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static Vec3i colorWheel[NCOLS];
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if (first)
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{
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int k = 0;
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for (int i = 0; i < RY; ++i, ++k)
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colorWheel[k] = Vec3i(255, 255 * i / RY, 0);
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for (int i = 0; i < YG; ++i, ++k)
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colorWheel[k] = Vec3i(255 - 255 * i / YG, 255, 0);
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for (int i = 0; i < GC; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255, 255 * i / GC);
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for (int i = 0; i < CB; ++i, ++k)
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colorWheel[k] = Vec3i(0, 255 - 255 * i / CB, 255);
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for (int i = 0; i < BM; ++i, ++k)
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colorWheel[k] = Vec3i(255 * i / BM, 0, 255);
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for (int i = 0; i < MR; ++i, ++k)
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colorWheel[k] = Vec3i(255, 0, 255 - 255 * i / MR);
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first = false;
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}
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const float rad = sqrt(fx * fx + fy * fy);
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const float a = atan2(-fy, -fx) / (float)CV_PI;
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const float fk = (a + 1.0f) / 2.0f * (NCOLS - 1);
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const int k0 = static_cast<int>(fk);
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const int k1 = (k0 + 1) % NCOLS;
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const float f = fk - k0;
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Vec3b pix;
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for (int b = 0; b < 3; b++)
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{
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const float col0 = colorWheel[k0][b] / 255.f;
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const float col1 = colorWheel[k1][b] / 255.f;
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float col = (1 - f) * col0 + f * col1;
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if (rad <= 1)
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col = 1 - rad * (1 - col); // increase saturation with radius
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else
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col *= .75; // out of range
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pix[2 - b] = static_cast<uchar>(255.f * col);
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}
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return pix;
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}
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void drawOpticalFlow(const Mat_<Point2f>& flow, Mat& dst, float maxmotion = -1)
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{
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dst.create(flow.size(), CV_8UC3);
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dst.setTo(Scalar::all(0));
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// determine motion range:
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float maxrad = maxmotion;
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if (maxmotion <= 0)
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{
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maxrad = 1;
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (!isFlowCorrect(u))
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continue;
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maxrad = max(maxrad, sqrt(u.x * u.x + u.y * u.y));
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}
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}
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}
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for (int y = 0; y < flow.rows; ++y)
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{
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for (int x = 0; x < flow.cols; ++x)
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{
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Point2f u = flow(y, x);
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if (isFlowCorrect(u))
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dst.at<Vec3b>(y, x) = computeColor(u.x / maxrad, u.y / maxrad);
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}
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}
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}
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void droneTracking(Rect img_size)
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{
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Point2f centre_image = Point2f(img_size.width/2, img_size.height/2);
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Point2f centre_rect = Point2f(objectBoundingRectangle.x + objectBoundingRectangle.width/2, objectBoundingRectangle.y + objectBoundingRectangle.height/2);
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geometry_msgs::Twist twist = geometry_msgs::Twist();
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if(centre_rect.x < centre_image.x)
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{
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twist.angular.z = 0.2;
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}
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else if(centre_rect.x > centre_image.x)
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{
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twist.angular.z = -0.2;
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}
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pub_cmd.publish(twist);
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}
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};
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