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Frezza improvement

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lhark 2016-06-07 14:55:41 +02:00
parent 37816cd161
commit ff44b1eb13
1 changed files with 12 additions and 7 deletions
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19
src/papillon.cpp
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@ -20,7 +20,7 @@ class Traite_image {
Mat prev; Mat prev;
Mat last_T; Mat last_T;
bool first = true; bool first = true;
int resize_f = 1; int resize_f = 2;
int theObject[2] = {0,0}; int theObject[2] = {0,0};
Rect objectBoundingRectangle = Rect(0,0,0,0); Rect objectBoundingRectangle = Rect(0,0,0,0);
@ -78,7 +78,7 @@ class Traite_image {
searchForMovement(prev_cropped, next_stab_cropped, output); searchForMovement(prev_cropped, next_stab_cropped, output);
pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg()); pub_img.publish(cv_bridge::CvImage(msg->header, "mono8", output).toImageMsg());
// bridge_input is handled by a smart-pointer. No explicit delete needed. // bridge_input is handled by a smart-pointer. No explicit delete needed.
//droneTracking(Rect(Point(0,0), output.size())); //droneTracking(Rect(Point(0,0), output.size()));
@ -128,7 +128,7 @@ class Traite_image {
Mat cur2; Mat cur2;
warpAffine(cur, cur2, T, cur.size(),INTER_NEAREST|WARP_INVERSE_MAP); warpAffine(cur, cur2, T, cur.size(),INTER_CUBIC|WARP_INVERSE_MAP);
cur2.copyTo(output); cur2.copyTo(output);
} }
@ -138,14 +138,19 @@ class Traite_image {
cur.copyTo(output); cur.copyTo(output);
cvtColor(prev, prev_grey, COLOR_BGR2GRAY); cvtColor(prev, prev_grey, COLOR_BGR2GRAY);
cvtColor(cur, cur_grey, COLOR_BGR2GRAY); cvtColor(cur, cur_grey, COLOR_BGR2GRAY);
GaussianBlur(prev_grey, prev_grey, Size(15,15), 3.0);
GaussianBlur(cur_grey, cur_grey, Size(15,15), 3.0);
//blur(prev_grey, prev_grey, Size(BLUR_SIZE, BLUR_SIZE));
//blur(cur_grey, cur_grey, Size(BLUR_SIZE, BLUR_SIZE));
// Subtract the 2 last frames and threshold them // Subtract the 2 last frames and threshold them
Mat thres; Mat thres;
absdiff(prev_grey,cur_grey,thres); absdiff(prev_grey,cur_grey,thres);
threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); // threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
// Blur to eliminate noise // // Blur to eliminate noise
blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE)); // blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY); // threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
thres.copyTo(output);
//notice how we use the '&' operator for objectDetected and output. This is because we wish //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. //to take the values passed into the function and manipulate them, rather than just working with a copy.