Frezza improvement

src/papillon.cpp

@@ -20,7 +20,7 @@ class Traite_image {
 		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);
@@ -78,7 +78,7 @@ class Traite_image {
 			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.
 
             //droneTracking(Rect(Point(0,0), output.size()));
@@ -128,7 +128,7 @@ class Traite_image {
 
 			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);
 		}
@@ -138,14 +138,19 @@ class Traite_image {
 			cur.copyTo(output);
 			cvtColor(prev, prev_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
 			Mat thres;
 			absdiff(prev_grey,cur_grey,thres);
-			threshold(thres, thres, SENSITIVITY_VALUE, 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, SENSITIVITY_VALUE, 255, THRESH_BINARY);
+			// // Blur to eliminate noise
+			// blur(thres, thres, Size(BLUR_SIZE, BLUR_SIZE));
+			// 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
 			//to take the values passed into the function and manipulate them, rather than just working with a copy.