From e4ac1b70afc94591994fb76b8e8c558299ad73b9 Mon Sep 17 00:00:00 2001 From: samilyjcc Date: Wed, 1 Jun 2016 17:45:32 +0200 Subject: [PATCH] add threshold to movement --- src/papillon.cpp | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/src/papillon.cpp b/src/papillon.cpp index 197ca2e..b6ad74c 100644 --- a/src/papillon.cpp +++ b/src/papillon.cpp @@ -14,14 +14,15 @@ using namespace std; class Traite_image { public: - const static int SENSITIVITY_VALUE = 10; + const static int THRESHOLD_DETECT_SENSITIVITY = 10; const static int BLUR_SIZE = 5; + const static int THRESHOLD_MOV = 5; Mat prev; Mat last_T; bool first = true; - int resize_f = 1; + int resize_f = 2; int theObject[2] = {0,0}; Rect objectBoundingRectangle = Rect(0,0,0,0); @@ -138,10 +139,10 @@ class Traite_image { // Subtract the 2 last frames and threshold them Mat thres; absdiff(prev_grey,cur_grey,thres); - threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); + threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY); // Blur to eliminate noise blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE)); - threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); + threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY); //notice how we use the '&' operator for objectDetected and output. This is because we wish //to take the values passed into the function and manipulate them, rather than just working with a copy. @@ -195,10 +196,10 @@ class Traite_image { split(flow, flow_coord); cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle); - //threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY); + //threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY); // Blur to eliminate noise blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE)); - threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY); + threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY); flow_norm.convertTo(flow_norm, CV_8U); bool objectDetected = false; @@ -236,11 +237,6 @@ class Traite_image { //write the position of the object to the screen putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2); - } - - void get_norm(Mat coord, Mat &norm) - { - //for(i=0; i< } inline bool isFlowCorrect(Point2f u) @@ -256,11 +252,11 @@ class Traite_image { geometry_msgs::Twist twist = geometry_msgs::Twist(); - if(centre_rect.x < centre_image.x) + if(centre_rect.x < centre_image.x-THRESHOLD_MOV) { twist.angular.z = 0.2; } - else if(centre_rect.x > centre_image.x) + else if(centre_rect.x > centre_image.x+THRESHOLD_MOV) { twist.angular.z = -0.2; }