add threshold to movement
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1 changed files with 9 additions and 13 deletions
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@ -14,14 +14,15 @@ using namespace std;
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class Traite_image {
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class Traite_image {
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public:
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public:
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const static int SENSITIVITY_VALUE = 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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Mat prev;
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Mat prev;
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Mat last_T;
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Mat last_T;
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bool first = true;
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bool first = true;
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int resize_f = 1;
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int resize_f = 2;
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int theObject[2] = {0,0};
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int theObject[2] = {0,0};
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Rect objectBoundingRectangle = Rect(0,0,0,0);
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Rect objectBoundingRectangle = Rect(0,0,0,0);
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@ -138,10 +139,10 @@ class Traite_image {
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// Subtract the 2 last frames and threshold them
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// Subtract the 2 last frames and threshold them
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Mat thres;
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Mat thres;
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absdiff(prev_grey,cur_grey,thres);
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absdiff(prev_grey,cur_grey,thres);
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threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
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// Blur to eliminate noise
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// Blur to eliminate noise
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blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
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blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
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threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
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//notice how we use the '&' operator for objectDetected and output. This is because we wish
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//notice how we use the '&' operator for objectDetected and output. This is because we wish
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//to take the values passed into the function and manipulate them, rather than just working with a copy.
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//to take the values passed into the function and manipulate them, rather than just working with a copy.
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@ -195,10 +196,10 @@ class Traite_image {
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split(flow, flow_coord);
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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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cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle);
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//threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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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 to eliminate noise
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blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
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blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
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threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
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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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flow_norm.convertTo(flow_norm, CV_8U);
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bool objectDetected = false;
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bool objectDetected = false;
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@ -238,11 +239,6 @@ class Traite_image {
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}
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}
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void get_norm(Mat coord, Mat &norm)
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{
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//for(i=0; i<
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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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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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return !cvIsNaN(u.x) && !cvIsNaN(u.y) && fabs(u.x) < 1e9 && fabs(u.y) < 1e9;
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@ -256,11 +252,11 @@ class Traite_image {
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geometry_msgs::Twist twist = geometry_msgs::Twist();
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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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if(centre_rect.x < centre_image.x-THRESHOLD_MOV)
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{
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{
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twist.angular.z = 0.2;
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twist.angular.z = 0.2;
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}
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}
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else if(centre_rect.x > centre_image.x)
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else if(centre_rect.x > centre_image.x+THRESHOLD_MOV)
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{
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{
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twist.angular.z = -0.2;
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twist.angular.z = -0.2;
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}
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}
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