Welcome to JetCobot repository

23、LK optical flow algorithm

23.1、Use

Source code launch file path：~/jetcobot_ws/src/opencv_apps/launch

Step 1: Start camera

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roslaunch jetcobot_visual opencv_apps.launch img_flip:=false

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

Step 2: Start OpenCv-apps feature

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roslaunch opencv_apps lk_flow.launch                      # LK optical flow algorithm

Each feature case will have a parameter [debug-view], boolean type, whether to use Opencv to display images, default display.

If it is not necessary to display, 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 may not be displayed through other means because in the source code, if the debug-view is set to False, the image processing will be turned off.

23.2、Display method

• rqt_image_view

Input the following command to select the corresponding topic

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rqt_image_view

• opencv

The system defaults to display, no further processing is required.

23.3、Effect display