Welcome to DOFBOT Pro repository

31.Threshold image processing

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.

Step 2: Start the corner detection function of Opencv_apps能

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roslaunch opencv_apps threshold.launch                    # Threshold image processing

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 in this way, some cases cannot be displayed in other ways, because in the source code, some [debug_view] is set to [False], which will turn off image processing.闭掉。

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

The picture below is the threshold transformation diagram after processing.