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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

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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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
jade

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
indigo

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

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opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
lunar

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
kinetic

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
melodic

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

Plugins

Recent questions tagged opencv_apps at Robotics Stack Exchange

Package symbol

opencv_apps package from opencv_apps repo

opencv_apps

ROS Distro
noetic

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

No additional links.

Maintainers

  • Kei Okada

Authors

  • Kei Okada

opencv_apps

Travis CI Build Status

Indigo Trusty Build Status

Kinetic Xenial Build Status

Melodic Bionic Build Status

Documentation http://wiki.ros.org/opencv_apps

CHANGELOG

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

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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

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