Welcome to DOFBOT Pro repository

28.Clear background detection algorithm

This section is a dedicated course for the Jetson-Nano mainboard. The Orin mainboard does not have a ROS1 environment and cannot run the following programs. The startup commands for this section are run on the Jetson-Nano host machine (mainboard). Simply open a terminal directly on the mainboard and enter the course commands; there is no need to run them in Docker.

1.Use

Source code Launch file path: ~/dofbot_ws/src/opencv_apps/launch

Step 1: Start the camera

roslaunch dofbot_visual opencv_apps.launch img_flip:=false

• img_flip parameter: whether the image needs to be flipped horizontally, the default is false.

Start the corner detection function of Opencv_apps

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roslaunch opencv_apps segment_objects.launch      # Clear background detection algorithm

Each functional case will have a parameter [debug_view], Boolean type, whether to use Opencv to display images, which is displayed by default.

If no display is required, set it to [False], for example

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roslaunch opencv_apps contour_moments.launch debug_view:=False

However, after starting this way, some cases cannot be displayed in other ways, because in the source code, some [Debug_view] are set to [FALSE], and the image processing will be turned off.

2.Display method

• rqt_image_view

Enter the following command to select the corresponding topic

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rqt_image_view

• opencv

The system displays it by default, no need to do anything.

3. Effect display

By comparing the image, you can see that the background has been cleared.