Welcome to NUWA-HP60C Depth Camera repository

6. Polygonal Outlines

Due to the influence of noise and illumination, the outline of the object will appear irregular. It is not conducive to analyzing the image content based on the irregular outline shape. At this time, the outline of the object needs to be fitted into a regular geometric shape. The image outline can be fitted into a rectangle, polygon, etc. according to the needs.

6.1.1, use

Source launch file path: /opt/ros/noetic/share/opencv_apps/launch

Step 1: Start the camera

roslaunch ascam_visual opencv_apps.launch img_flip:=false

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

The [usb_cam-test.launch] file opens the [web_video_server] node by default, and you can directly use the [IP:8080] web page to view the image in real time.

Step 2: Start the polygon contour function of Opencv_apps

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roslaunch opencv_apps convex_hull.launch # Polygon contour

Each function case will have a parameter [debug_view], Boolean type, whether to use Opencv to display the image, which is displayed by default.

If you don't need to display, set it to [False], for example

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roslaunch opencv_apps convex_hull.launch debug_view:=False

However, after starting in this way, some cases may not be displayed in other ways, because in the source code, some [debug_view] is set to [False], which will turn off the image processing.

6.1.2, Display method

• rqt_image_view

Enter the following command and select the corresponding topic

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rqt_image_view

• opencv

The system displays by default, and no processing is required.

• Web viewing

(Under the same LAN) Enter IP+port in the browser, for example:

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192.168.2.116:8080

For specific IP, use your current virtual machine IP.

6.1.3, Effect display

The image captured by the camera is combined into a polygonal outline.