phase_corr

Estimates the translation between the consecutive images with the phase correlation (cv::phaseCorrelate()).

opencv_apps	1.11 and later (ROS 1), 3.0.0 and later (ROS 2)
ROS	noetic, ROS One, jazzy, kilted, lyrical and later
OpenCV	any version of the distributions
Group	Optical flow and motion, the nodes of which publish `~/flows` (FlowArrayStamped), `~/shift` (Point2DStamped) of phase_corr

Usage

# ROS 2
ros2 launch opencv_apps phase_corr.launch.xml image:=/camera/image_raw debug_view:=false
# ROS 1
roslaunch opencv_apps phase_corr.launch image:=/camera/image_raw debug_view:=false

Try it with the demo video

Download the input video of the demo above, publish it as image with image_publisher, and run the node on it, in the terminals:

wget https://ros-perception.github.io/opencv_apps/media/clips/keybridge.mp4
# terminal 1: publish the video as image in a loop
ros2 run image_publisher image_publisher_node keybridge.mp4 --ros-args -p publish_rate:=10.0 -r image_raw:=image
# terminal 2: run the node with the parameters of the demo
ros2 launch opencv_apps phase_corr.launch.xml image:=image use_camera_info:=false
# terminal 3: view the result
ros2 run rqt_image_view rqt_image_view /phase_corr/image

In ROS 1:

# terminal 1
rosrun image_publisher image_publisher keybridge.mp4 _publish_rate:=10 __name:=camera
# terminal 2
roslaunch opencv_apps phase_corr.launch image:=camera/image_raw use_camera_info:=false

See Credits of the demo videos for the license of the video.

Subscribed topics

Topic	Type
`image`	`sensor_msgs/msg/Image`

Published topics

Topic	Type
`~/image`	`sensor_msgs/msg/Image`
`~/shift`	opencv_apps/msg/Point2DStamped

Parameters

Source

src/nodelet/phase_corr_nodelet.cpp, launch/phase_corr.launch.xml