Welcome to JetCobot repository

28、Clear background detection algorithm

28.1、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 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

xxxxxxxxxx
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.

28.2、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.

28.3、Effect display

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