FIx crop ratio

src/papillon.cpp

@@ -13,7 +13,7 @@ using namespace std;
 
 class Traite_image {
 	public:
-		const static int SENSITIVITY_VALUE = 30;
+		const static int SENSITIVITY_VALUE = 40;
 		const static int BLUR_SIZE = 10;
 
 
@@ -67,16 +67,21 @@ class Traite_image {
 
 			Mat next_stab;
 			stabiliseImg(prev, next, next_stab);
-            Rect myROI(next_stab.size().width/8, next_stab.size().height/8, next_stab.size().width*3/4, next_stab.size().height*3/4);
+			int crop_ratio = 6;
-            Mat next_stab_cropped = next_stab(myROI);
+			float crop_x = next_stab.size().width/crop_ratio;
-            Mat prev_cropped = prev(myROI);
+			float crop_y = next_stab.size().height/crop_ratio;
+			float crop_w = next_stab.size().width*(1-2.0/crop_ratio);
+			float crop_h = next_stab.size().height*(1-2.0/crop_ratio);
+			Rect myROI(crop_x, crop_y, crop_w, crop_h);
+			Mat next_stab_cropped = next_stab(myROI);
+			Mat prev_cropped = prev(myROI);
 			searchForMovement(prev_cropped, next_stab_cropped, output);
 
 
 			pub_img.publish(cv_bridge::CvImage(msg->header, "rgb8", output).toImageMsg());
 			// 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()));
 
 			//ROS_INFO("pub");