Welcome to JetCobot repository

25、Phase dependent displacement detection

25.1、Use

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

Step 1: Start the camera

xxxxxxxxxx
roslaunch 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

xxxxxxxxxx
roslaunch opencv_apps phase_corr.launch                   # Phase dependent displacement detection

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

xxxxxxxxxx
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.

25.2、Display method

• rqt_image_view

Enter the following command to select the corresponding topic

xxxxxxxxxx
rqt_image_view

• opencv

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

25.3、Effect display

The faster the camera moves, the larger the radius of the circle.