add threshold to movement

src/papillon.cpp

@@ -14,14 +14,15 @@ using namespace std;
 
 class Traite_image {
 	public:
-		const static int SENSITIVITY_VALUE = 10;
+		const static int THRESHOLD_DETECT_SENSITIVITY = 10;
 		const static int BLUR_SIZE = 5;
+        const static int THRESHOLD_MOV = 5;
 		
         
 		Mat prev;
 		Mat last_T;
 		bool first = true;
-		int resize_f = 1;
+		int resize_f = 2;
 
 		int theObject[2] = {0,0};
 		Rect objectBoundingRectangle = Rect(0,0,0,0);
@@ -138,10 +139,10 @@ class Traite_image {
 			// Subtract the 2 last frames and threshold them
 			Mat thres;
 			absdiff(prev_grey,cur_grey,thres);
-			threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
+			threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
 			// Blur to eliminate noise
 			blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
-			threshold(thres, thres, SENSITIVITY_VALUE, 255, THRESH_BINARY);
+			threshold(thres, thres, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
 
 			//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.
@@ -195,10 +196,10 @@ class Traite_image {
             split(flow, flow_coord);
             cartToPolar(flow_coord[0], flow_coord[1], flow_norm, angle);
             
-            //threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
+            //threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
 			// Blur to eliminate noise
 			blur(flow_norm, flow_norm, Size(BLUR_SIZE, BLUR_SIZE));
-			threshold(flow_norm, flow_norm, SENSITIVITY_VALUE, 255, THRESH_BINARY);
+			threshold(flow_norm, flow_norm, THRESHOLD_DETECT_SENSITIVITY, 255, THRESH_BINARY);
             flow_norm.convertTo(flow_norm, CV_8U);
             
             bool objectDetected = false;
@@ -236,11 +237,6 @@ class Traite_image {
 			//write the position of the object to the screen
 			putText(output,"Tracking object at (" + intToString(x)+","+intToString(y)+")",Point(x,y),1,1,Scalar(255,0,0),2);
 		
-        }
-        
-        void get_norm(Mat coord, Mat &norm)
-        {
-            //for(i=0; i<
         }
 
 		inline bool isFlowCorrect(Point2f u)
@@ -256,11 +252,11 @@ class Traite_image {
             
             geometry_msgs::Twist twist = geometry_msgs::Twist();
             
-            if(centre_rect.x < centre_image.x)
+            if(centre_rect.x < centre_image.x-THRESHOLD_MOV)
             {
                 twist.angular.z = 0.2;
             }
-            else if(centre_rect.x > centre_image.x)
+            else if(centre_rect.x > centre_image.x+THRESHOLD_MOV)
             {
                 twist.angular.z = -0.2;
             }