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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
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roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
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roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
jsk_perception | |
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
---|
g++-static |
Dependant Packages
Name | Deps |
---|---|
jsk_perception | |
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
jsk_perception | |
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
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g++-static |
Dependant Packages
Name | Deps |
---|---|
jsk_perception | |
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg
Services
Plugins
Recent questions tagged opencv_apps at Robotics Stack Exchange
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opencv_apps package from opencv_apps repoopencv_apps |
ROS Distro
|
Package Summary
Tags | No category tags. |
Version | 2.0.3 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-perception/opencv_apps.git |
VCS Type | git |
VCS Version | indigo |
Last Updated | 2025-05-22 |
Dev Status | DEVELOPED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Kei Okada
Authors
- Kei Okada
Changelog for package opencv_apps
2.0.3 (2025-05-22)
- [lk_flow] Keep matching information for sparse optical flow (#149)
- use bgr8 for output visualization (#145)
- add ROS-O test (#147)
- Suppress cmake warning (#146)
- [TEST] Fix catkin_lint version 1.6.18 to avoid [cmake_minimum_required]{.title-ref} error (#143)
- Add sync_.reset/async_.reset to destructor in face_recognition (#139)
- fix github actions (#140)
- fix missing .git directory (#136)
- Add histogram equalization default and clahe (#126)
- check all output of test/test-pyramids.test (#127)
- tests: properly remap camera_info (#125)
- add Morphology Transformations nodelet (#122)
- add test to check when adding two images, whcih has different size. (#123)
- contour_moments_nodelet: don't publish empty image (#124)
- Add Lab color filter (#114)
- add test to check on debain_unstable (#121)
- Remove timestamp from face_data.tar.gz (#117)
- use snapshot of rosdep list (#120)
- fix travis, speed up GA tests (#116)
- add .github/workflows (#115)
- Contributors: Aoi Nakane, Jochen Sprickerhof, Kei Okada, Martin Günther, Naoto Tsukamoto, Shingo Kitagawa, Yuki Furuta, Iori Yanokura, Ivan Oliveira Tarifa
2.0.2 (2020-08-19)
- .travis.yml: add noetic test
(#108)
- support oepncv4 for face detection launch/test files
- convert img_gray every loop, this fixes [ERROR] [1597757072.115502734]: Image processing error: Matrix operand is an empty matrix. checkOperandsExist ../modules/core/src/matrix_expressions.cpp 23 errors
- check CV_VERSION_VERSION > 4
- add g++ static to package.xml
- use python3 for noetic
- .travis.yml : add CHECK_PYTHON3_COMPILE
- .travis.yml: add noetic test
- fix travis
(#106)
- add more package to CATKIN_DEPENDS
- add image_view to run_depends
- add hot fix for hydro test
(#98)
- add doublequote arount $TEST
- add hot fix for hydro test
- Improved variable names and comments
(#95)
- Improved variable names and comments: The comments and variable names were the opposite of what was functionally happening in the code. No functional change to this commit, just better readability and maintainability.
- setup EoL repository (#96)
- Contributors: Gus Crowards, Kei Okada
2.0.1 (2019-04-22)
- support catkin_lint and clang-format tests in travis.yml
(#93)
- override is not supported gcc4.6 (12.04), remove this fix and add NOLINT
- clang-tidy code need c++11
- fix code by run-clang-tidy -fix
- fix format by clang-format
- fix CMakeLists.txt and package.xml for catkin_lint
- support catkin_lint and clang-format tests
- add queue_size parameter to all nodes, see
#83
(#92)
- add queue_size arg to launch files
- sometimes simple_example_test fails with 'average rate (36.121Hz) exceeded maximum (35.000Hz)'
File truncated at 100 lines see the full file
Wiki Tutorials
Package Dependencies
System Dependencies
Name |
---|
g++-static |
Dependant Packages
Name | Deps |
---|---|
jsk_perception | |
roseus_tutorials |
Launch files
- launch/adding_images.launch
-
- node_name [default: adding_images]
- image1 [default: image1] — The image topic. Should be remapped to the name of the real image topic.
- image2 [default: image2] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- alpha [default: 0.5] — Weight of the first array elements
- gamma [default: 0] — Scalar added to each sum
- approximate_sync [default: false] — Flag of approximate_sync. If this value is false, image1 and image2 synchronize exact time.
- launch/camshift.launch
-
- node_name [default: camshift]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram [default: [0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] — Histogram of tracked color object
- vmin [default: 10] — Min threshould of lightness.
- vmax [default: 230] — Max threshould of lightness.
- smin [default: 60] — Min value of saturation.
- launch/contour_moments.launch
-
- node_name [default: contour_moments]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 100] — Canny Edge low Threshold
- launch/convex_hull.launch
-
- node_name [default: convex_hull]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/corner_harris.launch
-
- node_name [default: corner_harris]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 200] — Threshold value of a circle around corners's norm
- launch/discrete_fourier_transform.launch
-
- node_name [default: discrete_fourier_transform]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 1] — Specigy queue_size of input image subscribers
- launch/edge_detection.launch
-
- node_name [default: edge_detection]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- edge_type [default: 0] — Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector.
- canny_threshold1 [default: 100] — Specify second canny threashold value.
- canny_threshold2 [default: 200] — Specity first canny threashold value.
- apertureSize [default: 3] — Aperture size for the Sobel() operator.
- apply_blur_pre [default: true] — Flag, applying Blur() to input image
- postBlurSize [default: 13] — Aperture size for the Blur() to input image()
- postBlurSigma [default: 3.2] — Sigma for the GaussianBlur() to input image.
- apply_blur_post [default: false] — Flag, applying GaussinaBlur() to output(edge) image
- L2gradient [default: false] — Flag, L2Gradient
- launch/equalize_histogram.launch
-
- node_name [default: equalize_histogram]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- histogram_equalization_type [default: 0] — Specify histogram equaliztion methods. 0: Default, 1: Clahe
- clahe_clip_limit [default: 255.0] — The maximum allowed field value Clip Limit
- clahe_tile_size_x [default: 300] — The maximum allowed field value Threshold X Limit
- clahe_tile_size_y [default: 300] — The maximum allowed field value Threshold Y Limit
- use_opencl [default: true] — Enable or disable OpenCL
- launch/face_detection.launch
-
- node_name [default: face_detection]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: $(arg use_opencv3)]
- use_opencv4 [default: false]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.2.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: $(find opencv3)/../OpenCV-3.3.1-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv4/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- face_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml] — Face dtection cascade Filename
- eyes_cascade_name [default: /usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml] — Eye dtection cascade Filename
- launch/face_recognition.launch
-
- launch_face_detection [default: true]
- launch_trainer [default: true]
- use_opencv3 [default: false]
- use_opencv3_1 [default: false]
- use_opencv3_2 [default: false]
- use_opencv3_3 [default: false]
- use_opencv4 [default: false]
- debug_view [default: true]
- queue_size [default: 100] — Specigy queue_size of input image subscribers
- image [default: image]
- data_dir [default: ~/.ros/opencv_apps/face_data]
- launch/fback_flow.launch
-
- node_name [default: fback_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/find_contours.launch
-
- node_name [default: find_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_low_threshold [default: 10] — Lower threshold for the internal Canny edge detector.
- launch/general_contours.launch
-
- node_name [default: general_contours]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- threshold [default: 100] — Treshold for the detecting edges.
- launch/goodfeature_track.launch
-
- node_name [default: goodfeature_track]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- max_corners [default: 23] — Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned.
- launch/hls_color_filter.launch
-
- node_name [default: hls_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- l_limit_max [default: 255] — The maximum allowed field value Luminance
- l_limit_min [default: 50] — The minimum allowed field value Luminance
- launch/hough_circles.launch
-
- node_name [default: hough_circles]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- canny_threshold [default: 200] — Upper threshold for the internal Canny edge detector.
- accumulator_threshold [default: 50] — Threshold for center detection.
- gaussian_blur_size [default: 9] — The size of gaussian blur (should be odd number)
- gaussian_sigma_x [default: 2] — Sigma x of gaussian kernel
- gaussian_sigma_y [default: 2] — Sigma y of gaussian kernel
- dp [default: 2] — The inverse ratio of resolution.
- min_circle_radius [default: 0] — The minimum size of the circle, If unknown, put zero as default
- max_circle_radius [default: 0] — The maximum size of the circle, If unknown, put zero as default.
- launch/hough_lines.launch
-
- node_name [default: hough_lines]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hough_type [default: 0] — Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection
- threshold [default: 150] — Threshould value for hough line detection
- rho [default: 1.0] — The resolution of the parameter r in pixels.
- theta [default: 1.0] — The resolution of the parameter theta in radians.
- minLineLength [default: 30] — The minimum number of points that can form a line.
- maxLineGrap [default: 10] — The maximum gap between two points to be considered in the same line.
- launch/hsv_color_filter.launch
-
- node_name [default: hsv_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- h_limit_max [default: 250] — The maximum allowed field value Hue
- h_limit_min [default: 0] — The minimum allowed field value Hue
- s_limit_max [default: 255] — The maximum allowed field value Saturation
- s_limit_min [default: 150] — The minimum allowed field value Saturation
- v_limit_max [default: 255] — The maximum allowed field value Value
- v_limit_min [default: 50] — The minimum allowed field value Value
- launch/lab_color_filter.launch
-
- node_name [default: lab_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- l_limit_max [default: 255] — The maximum allowed field value L*
- l_limit_min [default: 50] — The minimum allowed field value L*
- a_limit_max [default: 250] — The maximum allowed field value a*
- a_limit_min [default: 0] — The minimum allowed field value a*
- b_limit_max [default: 255] — The maximum allowed field value b*
- b_limit_min [default: 150] — The minimum allowed field value b*
- launch/lk_flow.launch
-
- node_name [default: lk_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- quality_level [default: 0.01] — Parameter characterizing the minimal acceptance quality of image corners.
- min_distance [default: 10] — Minimum possible Euclidean distance between the returned corners.
- block_size [default: 3] — Size of an average block for computing a derivative covariation matrix over each pixel neighborhood.
- harris_k [default: 0.04] — Free parameter of the Harris detector
- launch/morphology.launch
-
- node_name [default: morphology]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- morph_operator [default: 0] — Morphology Operation Methods 0: Opening, 1: Closing, 2: Gradient, 3: Top Hat, 4: Black Hat
- morph_element [default: 0] — Type of the kernel 0: Rect, 1: Cross, 2: Ellipse
- morph_size [default: 0] — Size of the kernel
- launch/people_detect.launch
-
- node_name [default: people_detect]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- hit_threshold [default: 0] — Threshold for the distance between features and SVM classifying plane
- win_stride [default: 8] — Window stride. It must be a multiple of block stride.
- padding [default: 32] — Mock parameter to keep the CPU interface compatibility. It must be (0,0).
- scale0 [default: 1.05] — Coefficient of the detection window increase.
- group_threshold [default: 2] — Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping.
- launch/phase_corr.launch
-
- node_name [default: phase_corr]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/pyramids.launch
-
- node_name [default: pyramids]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show pyramids image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- pyramids_type [default: 0] — Specify pyramids Up/Down. 0: Up size(zoom in), 1: Down size(zoom out).
- num_of_pyramids [default: 0] — Number of Up/Down sampling.
- launch/rgb_color_filter.launch
-
- node_name [default: rgb_color_filter]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- r_limit_max [default: 250] — The maximum allowed field value Red
- r_limit_min [default: 50] — The minimum allowed field value Red
- g_limit_max [default: 200] — The maximum allowed field value Green
- g_limit_min [default: 100] — The minimum allowed field value Green
- b_limit_max [default: 150] — The maximum allowed field value Blue
- b_limit_min [default: 20] — The minimum allowed field value Blue
- launch/segment_objects.launch
-
- node_name [default: segment_objects]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- launch/simple_flow.launch
-
- node_name [default: simple_flow]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- scale [default: 8] — Specify the scale factor to calculate optical flow.
- launch/smoothing.launch
-
- node_name [default: smoothing]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- filter_type [default: 0] — Smoothing Filter Methods. 0:Homogeneous blur, 1:Gaussian blur, 2:Median blur, 3:Bilateral Filter.
- kernel_size [default: 7] — Size of the kernel (only one because we use a square window). Must be odd.
- launch/threshold.launch
-
- node_name [default: threshold]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
- apply_otsu [default: false] — Decide applying Otsu's algotirhm threshold. If this value is true, threshold value will be ignored
- threshold_type [default: 0] — Specify threshold types. 0: Binary threshold, 1: Binary inverted threshold, 2: Threshold truncated, 3: Threshold to zero, 4: Threshold to zero inverted
- threshold [default: 150] — threshold value
- max_binary [default: 255] — maximum value to use with the 0: Binary thresholding and 1: Binary inverted thresholding types.
- launch/watershed_segmentation.launch
-
- node_name [default: watershed_segmentation]
- image [default: image] — The image topic. Should be remapped to the name of the real image topic.
- use_camera_info [default: false] — Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.
- debug_view [default: true] — Specify whether the node displays a window to show edge image
- queue_size [default: 3] — Specigy queue_size of input image subscribers
Messages
- msg/Circle.msg
- msg/CircleArray.msg
- msg/CircleArrayStamped.msg
- msg/Contour.msg
- msg/ContourArray.msg
- msg/ContourArrayStamped.msg
- msg/Face.msg
- msg/FaceArray.msg
- msg/FaceArrayStamped.msg
- msg/Flow.msg
- msg/FlowArray.msg
- msg/FlowArrayStamped.msg
- msg/FlowStamped.msg
- msg/Line.msg
- msg/LineArray.msg
- msg/LineArrayStamped.msg
- msg/Moment.msg
- msg/MomentArray.msg
- msg/MomentArrayStamped.msg
- msg/Point2D.msg
- msg/Point2DArray.msg
- msg/Point2DArrayStamped.msg
- msg/Point2DStamped.msg
- msg/Rect.msg
- msg/RectArray.msg
- msg/RectArrayStamped.msg
- msg/RotatedRect.msg
- msg/RotatedRectArray.msg
- msg/RotatedRectArrayStamped.msg
- msg/RotatedRectStamped.msg
- msg/Size.msg