Frame drop

src/papillon.cpp

@@ -16,9 +16,10 @@ class Traite_image {
 		const static int BLUR_Size = 9;
 		const static int CLOSE_SIZE = 20;
 		const static int ERODE_SIZE = 2;
+		const static int NB_FRAME_DROP = 2;
 
 
-		cv::Mat prev;
+		vector<cv::Mat> prevs;
 		cv::Mat last_T;
 		bool first = true;
 		int resize_f = 1;
@@ -63,13 +64,15 @@ class Traite_image {
 			cv::Mat output;// = input.clone(); //   (input.rows, input.cols, CV_32FC2);
 			//ROS_INFO("got input");
 			if (first) {
-				prev = next.clone();
+				for (int i = 0; i < NB_FRAME_DROP; ++i) {
+					prevs.push_back(next.clone());
+				}
 				first = false;
 				ROS_INFO("first done");
 			}
 
 			cv::Mat next_stab;
-			stabiliseImg(prev, next, next_stab);
+			stabiliseImg(prevs.back(), next, next_stab);
 			int crop_ratio = 6;
 			float crop_x = next_stab.size().width/crop_ratio;
 			float crop_y = next_stab.size().height/crop_ratio;
@@ -77,7 +80,7 @@ class Traite_image {
 			float crop_h = next_stab.size().height*(1-2.0/crop_ratio);
 			cv::Rect myROI(crop_x, crop_y, crop_w, crop_h);
 			cv::Mat next_stab_cropped = next_stab(myROI);
-			cv::Mat prev_cropped = prev(myROI);
+			cv::Mat prev_cropped = prevs.back()(myROI);
 			cv::Mat closed_thres;
 			searchForMovement(prev_cropped, next_stab_cropped, output, closed_thres);
 
@@ -90,7 +93,8 @@ class Traite_image {
 
 			//ROS_INFO("pub");
 
-			prev = next.clone();
+			prevs.pop_back();
+			prevs.insert(prevs.begin(), next.clone());
 		}
 
 		//int to string helper function
@@ -163,7 +167,6 @@ class Traite_image {
 			cv::erode(thres, thres, element );
 
 
-			thres.copyTo(out2);
 
 			cv::threshold(thres, thres, SENSITIVITY_VALUE, 255, cv::THRESH_BINARY);
 
@@ -172,6 +175,7 @@ class Traite_image {
 			cv::morphologyEx( thres, closed_thres, cv::MORPH_CLOSE, structuringElement );
 			// dilated_thres.copyTo(output);
 
+			closed_thres.copyTo(out2);
 
 			//closed_thres.copyTo(output);