Welcome to JetCobot repository
13.Edge detection algorithm
13、Edge detection algorithm
13.1、使用
Source code launch file path：~/jetcobot_ws/src/opencv_apps/launch
Step 1: Start the camera
xxxxxxxxxxroslaunch jetcobot_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
xxxxxxxxxxroslaunch opencv_apps edge_detection.launch # Edge 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
xxxxxxxxxxroslaunch 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.
13.2、 Display method
rqt_image_view
Enter the following command to select the corresponding topic
xxxxxxxxxxrqt_image_view
opencv
The system displays it by default and no processing is required.
13.3、Effect display
There will be a topic for subscribing images and publishing images.
| Parameter | Type | Default | Analyze |
|---|---|---|---|
| ~use_camera_info | bool | true | Subscribe to the topic [camera_info] to get the default coordinate system ID, otherwise use the image information directly. |
| ~debug_view | bool | false | Whether to create a window to display the node image |
| ~edge_type | int | 0 | Specify the edge detection method: 0: Sobel operator, 1: Laplacian operator, 2: Canny edge detection |
| ~canny_threshold1 | int | 100 | Specify the second canny threshold |
| ~canny_threshold2 | int | 200 | Specify the first canny threshold |
| ~apertureSize | int | 3 | Aperture size of the Sobel operator |
| ~apply_blur_pre | bool | True | Whether to apply blur() to the input image |
| ~postBlurSize | double | 3.2 | Input image aperture size |
| ~apply_blur_post | bool | False | Whether to apply GaussianBlur() to the input image |
| ~L2gradient | bool | False | Canny's parameters |
| ~queue_size | int | 3 | Canny's parameters |
Effect picture.
Node picture.
