Code cleanup in progress

src/papillon.cpp

@@ -13,7 +13,7 @@ using namespace std;
 class Traite_image {
 	public:
 		const static int SENSITIVITY_VALUE = 20;
-		const static int BLUR_Size = 9;
+		const static int BLUR_SIZE = 9;
 		const static int CLOSE_SIZE = 30;
 		const static int ERODE_SIZE = 2;
 		const static int NB_FRAME_DROP = 1;
@@ -29,10 +29,10 @@ class Traite_image {
 		ros::NodeHandle n;
 
 		image_transport::ImageTransport it;
+		image_transport::Subscriber     sub;
 		image_transport::Publisher      pub_img;
 		image_transport::Publisher      pub_thres;
-        ros::Publisher					pub_cmd;
+		ros::Publisher                  pub_cmd;
-		image_transport::Subscriber     sub;
 
 
 		Traite_image() : n("~"),it(n) {
@@ -43,7 +43,8 @@ class Traite_image {
 		}
 
 
-		// This processes an image and publishes the result.
+		// Callback function executedwhen recieving an image from the camera
+		// Publishes to /papillon/image_out
 		void on_image(const sensor_msgs::ImageConstPtr& msg) {
 
 			cv_bridge::CvImageConstPtr bridge_input;
@@ -88,7 +89,7 @@ class Traite_image {
 			prevs.pop_back();
 			prevs.insert(prevs.begin(), next.clone());
 		}
-		
+
 		void stabiliseImg(cv::Mat prev, cv::Mat cur, cv::Mat &output){
 			cv::Mat cur_grey, prev_grey;
 			cv::cvtColor(cur, cur_grey, cv::COLOR_BGR2GRAY);
@@ -118,11 +119,7 @@ class Traite_image {
 			}
 			T.copyTo(last_T);
 
-			cv::Mat cur2;
+			cv::warpAffine(cur, output, T, cur.size(),cv::INTER_CUBIC|cv::WARP_INVERSE_MAP);
-
-			cv::warpAffine(cur, cur2, T, cur.size(),cv::INTER_CUBIC|cv::WARP_INVERSE_MAP);
-
-			cur2.copyTo(output);
 		}
 
 		void searchForMovement(cv::Mat prev, cv::Mat cur, cv::Mat &output, cv::Mat &out2){
@@ -130,8 +127,8 @@ class Traite_image {
 			cur.copyTo(output);
 			cv::cvtColor(prev, prev_grey, cv::COLOR_BGR2GRAY);
 			cv::cvtColor(cur, cur_grey, cv::COLOR_BGR2GRAY);
-			cv::GaussianBlur(prev_grey, prev_grey, cv::Size(BLUR_Size,BLUR_Size), 3.0);
+			cv::GaussianBlur(prev_grey, prev_grey, cv::Size(BLUR_SIZE,BLUR_SIZE), 3.0);
-			cv::GaussianBlur(cur_grey, cur_grey, cv::Size(BLUR_Size,BLUR_Size), 3.0);
+			cv::GaussianBlur(cur_grey, cur_grey, cv::Size(BLUR_SIZE,BLUR_SIZE), 3.0);
 
 			// Subtract the 2 last frames and threshold them
 			cv::Mat thres;
@@ -144,7 +141,7 @@ class Traite_image {
 			cv::erode(thres, thres, element );
 
 			cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY);
-			
+
 			// Intermediate output
 			thres.copyTo(out2);
 
@@ -223,4 +220,4 @@ int main(int argc, char **argv)
 	ros::spin();
 
 	return 0;
-}
+}