Apply thresholding to optical flow and creates mask image.

Subscribing Topic

  • ~input/flows (opencv_apps/FlowArrayStamped)

    Optical flow.

  • ~input/camera_info (sensor_msgs/CameraInfo)

    Camera info to get image size. Subscribed if ~use_camera_info is true.

Publishing Topic

  • ~output (sensor_msgs/Image)

    Mask image.


  • ~approximate_sync (Bool, default: false)

    Approximately synchronize inputs if it’s true.

  • ~queue_size (Int, default: 100)

    How many messages you allow about the subscriber to keep in the queue. This should be big when there is much difference about delay between two topics.

  • ~use_camera_info (Bool, default: true)

    If true, output mask size is got from ~input/camera_info.

  • ~image_height, ~image_width (Int)

    Output image height and width. Required if ~use_camera_info:=false.


roslaunch jsk_perception sample_flow_velocity_thresholding.launch