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Realtime Optic Flow with ROS example

Installation: install as a standard catkin package: 1. Put this folder in catkin_ws/src 2. From catkin_ws, run catkin_make

Run the demo

To play the demo videos under demo_video, which are compressed rosbag video files:

  1. Edit the launch files so that the path (line 3, args=".....") match the path and name of the rosbag video files on your system.
  2. Run the following command from inside the demo_video folder: roslaunch run_optic_flow_outside.launch. If you get an error, check that the path is correct, and that you used the full path. It should pop up a window of the video feed.
  3. Check which topic the video is on by running rostopic list. It should be /camera/image_mono
  4. Run the optic flow node: rosrun optic_flow_example optic_flow_lucas_kanade.py --topic='/camera/image_mono'. This will open a window that shows the raw video feed, overlaid with red lines showing the optic flow at these pixels. The node also publishes the flow field data on the topic /optic_flow.