OpenCV(opencv_apps)在ROS中的视频图像的应用（重点讲解哈里斯角点的检测）

1、引言

通过opencv_apps，你可以在ROS中以最简单的方式运行OpenCV提供的许多功能，也就是说，运行一个与功能相对应的launch 启动文件，就可以跳过为OpenCV的许多功能编写OpenCV应用程序代码，非常的方便。

对于想熟悉每个细节的伙伴们，可以去看源码，对于熟悉视觉操作很有帮助。

官方说明：http://wiki.ros.org/opencv_apps

github源码：https://github.com/ros-perception/opencv_apps

2、启动操作

2.1、opencv_apps.launch

先来启动摄像头等相关操作，需要启动opencv_apps.launch文件，我们先来了解下：

bash 复制代码

gedit /home/jetson/workspace/catkin_ws/src/jetbot_ros/launch/opencv_apps.launch

XML 复制代码

<launch>
    <arg name="img_flip" default="False"/>
    <arg name="img_transform" default="True"/>
    <group if="$(arg img_transform)">
        <arg name="img_topic" default="/csi_cam_0/image_raw"/>
        <include file="$(find jetson_nano_csi_cam)/launch/jetson_csi_cam.launch"/>
        <node name="img_transform" pkg="jetbot_ros" type="img_transform.py" output="screen">
            <param name="img_flip" type="bool" value="$(arg img_flip)"/>
            <param name="img_topic" type="string" value="$(arg img_topic)"/>
        </node>
    </group>
</launch>

这里<include>节点包含一个jetson_csi_cam.launch启动文件以及一个名为img_transform的节点

其中jetson_csi_cam.launch我们查看下里面的内容：

bash 复制代码

cat /home/jetson/workspace/catkin_ws/src/jetson_nano_csi_cam_ros/launch/jetson_csi_cam.launch

里面是一些摄像头的参数设置和启动摄像头，通过GSCAM 开源包将GStreamer 图像流引入到ROS中，转换成sensor_msgs/Image类型的Image话题，发布到ROS中，供其他节点使用。

2.2、img_transform.py

然后就是做这些操作的节点，我们来看下它的源码：

bash 复制代码

gedit /home/jetson/workspace/catkin_ws/src/jetbot_ros/scripts/img_transform.py

python 复制代码

#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
import cv2 as cv
from cv_bridge import CvBridge
from sensor_msgs.msg import Image

def topic(msg):
    if not isinstance(msg, Image):
        return
    bridge = CvBridge()
    frame = bridge.imgmsg_to_cv2(msg, "bgr8")
    # Canonical input image size
    frame = cv.resize(frame, (640, 480))
    if img_flip == True: frame = cv.flip(frame, 1)
    # opencv mat ->  ros msg
    msg = bridge.cv2_to_imgmsg(frame, "bgr8")
    pub_img.publish(msg)

if __name__ == '__main__':
    rospy.init_node("pub_img", anonymous=False)
    img_topic = rospy.get_param("~img_topic", "/csi_cam_0/image_raw")
    img_flip = rospy.get_param("~img_flip", False)
    sub_img = rospy.Subscriber(img_topic, Image, topic)
    pub_img = rospy.Publisher("/image", Image, queue_size=10)
    rate = rospy.Rate(2)
    rospy.spin()

这里就是定义一个pub_img 节点，订阅CSI摄像头相关的话题，然后通过Image话题进行发布，供其余节点使用。其中获取参数：rospy.get_param("~img_topic", "/csi_cam_0/image_raw")，如果没有在~img_topic获取到，就使用/csi_cam_0/image_raw默认值。同样的rospy.get_param("~img_flip", False)如果没有获取到~img_flip的值，就默认为False

2.3、打开相机

熟悉摄像头的相关操作之后，我们就来做一些准备工作，开启相机：
roslaunch jetbot_ros opencv_apps.launch

查看方式：rqt_image_view，如下图：

或者网页查看：rosrun web_video_server web_video_server

然后使用IP+端口就可以查看了，如下图：

然后点击里面的话题，就可以看到摄像视频了，如下图：

我们来看下开启了哪些话题：rostopic list

/csi_cam_0/camera_info

/csi_cam_0/image_raw

/csi_cam_0/image_raw/compressed

/csi_cam_0/image_raw/compressed/parameter_descriptions

/csi_cam_0/image_raw/compressed/parameter_updates

/csi_cam_0/image_raw/compressedDepth

/csi_cam_0/image_raw/compressedDepth/parameter_descriptions

/csi_cam_0/image_raw/compressedDepth/parameter_updates

/csi_cam_0/image_raw/theora

/csi_cam_0/image_raw/theora/parameter_descriptions

/csi_cam_0/image_raw/theora/parameter_updates

/image

/rosout

/rosout_agg

是一些关于csi摄像头相关的话题，接下来我们对里面大量的示例做一个演示

3、哈里斯角点

因为我们都是在opencv_apps包里面，所以先来这个所在工作区间的这个包的launch 目录里面。

查看下有哪些启动文件：ls /home/jetson/workspace/catkin_ws/src/opencv_apps/launch/

adding_images.launch hough_circles.launch

camshift.launch hough_lines.launch

contour_moments.launch hsv_color_filter.launch

convex_hull.launch lk_flow.launch

corner_harris.launch people_detect.launch

discrete_fourier_transform.launch phase_corr.launch

edge_detection.launch pyramids.launch

face_detection.launch rgb_color_filter.launch

face_recognition.launch segment_objects.launch

fback_flow.launch simple_flow.launch

find_contours.launch smoothing.launch

general_contours.launch threshold.launch

goodfeature_track.launch watershed_segmentation.launch

hls_color_filter.launch

可以看到对图像操作的功能还是挺多的，有霍夫圆、霍夫直线、轮廓矩、LK光流、哈里斯角点、边缘、人物、面部识别等等

3.1、corner_harris.launch

判断某个点是图像中的角点，这里的对角点的检测，我们花多点时间重点来说明下，后面的节点基本就是展示为主。
roslaunch opencv_apps corner_harris.launch

启动如下，使用一张棋盘格式的图片让它识别：

可以看到图片中的角点，有很多的小圆圈给标注着，这里的角点检测的多少和准确度，取决于上面的threshold阈值大小，可以自行调节，调小了，角点数量就会多，相对而言准确度也在下降，调大阈值，角点数量就相应减少，准确度要高。

我们来看下这个启动文件里面的内容：

bash 复制代码

cat  /home/jetson/workspace/catkin_ws/src/opencv_apps/launch/corner_harris.launch

XML 复制代码

<launch>
  <arg name="node_name" default="corner_harris" />

  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />

  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show image" />
  <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />

  <arg name="threshold" default="200" doc="Threshold value of a circle around corners's norm" />

  <!-- corner_harris.cpp  -->
  <node name="$(arg node_name)" pkg="opencv_apps" type="corner_harris" >
    <remap from="image" to="$(arg image)" />
    <param name="use_camera_info" value="$(arg use_camera_info)" />
    <param name="debug_view" value="$(arg debug_view)" />
    <param name="queue_size" value="$(arg queue_size)" />
  </node>
</launch>

3.2、corner_harris.cpp

前面是一些参数设置，后面是一个node 节点部分，其中type="corner_harris"可以知道使用的是C++写的，因为如果是Python写的，就是type="corner_harris.py"这样的形式，当然那里也注释说明了是corner_harris.cpp

其中C++代码文件的地址：ls /home/jetson/workspace/catkin_ws/build/opencv_apps

我们来看下这个哈里斯角点的实际代码：
gedit /home/jetson/workspace/catkin_ws/build/opencv_apps/corner_harris.cpp

cpp 复制代码

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2016, Kentaro Wada.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Kentaro Wada nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#include <ros/ros.h>
#include <nodelet/loader.h>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "corner_harris", ros::init_options::AnonymousName);
    if (ros::names::remap("image") == "image") {
        ROS_WARN("Topic 'image' has not been remapped! Typical command-line usage:\n"
                 "\t$ rosrun image_rotate image_rotate image:=<image topic> [transport]");
    }

    // need to use 1 worker thread to prevent freezing in imshow, calling imshow from mutiple threads
    //nodelet::Loader manager(false);
    ros::param::set("~num_worker_threads", 1); // need to call   Loader(bool provide_ros_api = true);
    nodelet::Loader manager(true);
    nodelet::M_string remappings;
    nodelet::V_string my_argv(argv + 1, argv + argc);
    my_argv.push_back("--shutdown-on-close"); // Internal

    manager.load(ros::this_node::getName(), "opencv_apps/corner_harris", remappings, my_argv);

    ros::spin();
    return 0;
}

这段代码就是初始化corner_harris节点，image话题的重映射等，然后用圆圈来标注角点，这个操作会用到接下来要讲的一个插件。

3.3、corner_harris_nodelet.cpp

上面的核心代码，会用到Nodelet ，关于这个Nodelet 插件的解释：

允许用户在ROS节点中添加自定义功能，Nodelet使得开发人员能够将复杂的代码封装到可重用的插件中，这些插件可以像其他ROS节点一样进行部署和通信，开发人员可以编写更加模块化和可维护的代码，提高ROS系统的可扩展性和可重用性。

更关键的是效率问题，Nodelet提供一种方法，可以让多个算法程序在一个进程中，使用共享指针shared_ptr来实现零拷贝通信，以降低因为拷贝传输大数据（比如图像流，点云等）而延迟的问题，换句话说就是将多个node 捆绑在一起管理，使得同一个manager里面的话题的数据传输更快，因为不会在进程内传递消息时进行复制而产生的效率下降。

查看插件文件：ls /home/jetson/workspace/catkin_ws/src/opencv_apps/src/nodelet

我们打开哈里斯角点的插件代码来看下：

bash 复制代码

gedit /home/jetson/workspace/catkin_ws/src/opencv_apps/src/nodelet/corner_harris_nodelet.cpp

cpp 复制代码

// -*- coding:utf-8-unix; mode: c++; indent-tabs-mode: nil; c-basic-offset: 2; -*-
/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2016, JSK Lab.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Kei Okada nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#include <ros/ros.h>
#include "opencv_apps/nodelet.h"
#include <image_transport/image_transport.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>

#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include <dynamic_reconfigure/server.h>
#include "opencv_apps/CornerHarrisConfig.h"

// https://github.com/opencv/opencv/blob/master/samples/cpp/tutorial_code/TrackingMotion/cornerHarris_Demo.cpp
/**
 * @function cornerHarris_Demo.cpp
 * @brief Demo code for detecting corners using Harris-Stephens method
 * @author OpenCV team
 */

namespace opencv_apps
{
class CornerHarrisNodelet : public opencv_apps::Nodelet
{
  image_transport::Publisher img_pub_;
  image_transport::Subscriber img_sub_;
  image_transport::CameraSubscriber cam_sub_;
  ros::Publisher msg_pub_;

  boost::shared_ptr<image_transport::ImageTransport> it_;

  typedef opencv_apps::CornerHarrisConfig Config;
  typedef dynamic_reconfigure::Server<Config> ReconfigureServer;
  Config config_;
  boost::shared_ptr<ReconfigureServer> reconfigure_server_;

  int queue_size_;
  bool debug_view_;

  std::string window_name_;
  static bool need_config_update_;

  int threshold_;

  void reconfigureCallback(Config& new_config, uint32_t level)
  {
    config_ = new_config;
    threshold_ = config_.threshold;
  }

  const std::string& frameWithDefault(const std::string& frame, const std::string& image_frame)
  {
    if (frame.empty())
      return image_frame;
    return frame;
  }

  void imageCallbackWithInfo(const sensor_msgs::ImageConstPtr& msg, const sensor_msgs::CameraInfoConstPtr& cam_info)
  {
    doWork(msg, cam_info->header.frame_id);
  }

  void imageCallback(const sensor_msgs::ImageConstPtr& msg)
  {
    doWork(msg, msg->header.frame_id);
  }

  static void trackbarCallback(int /*unused*/, void* /*unused*/)
  {
    need_config_update_ = true;
  }

  void doWork(const sensor_msgs::ImageConstPtr& image_msg, const std::string& input_frame_from_msg)
  {
    // Work on the image.
    try
    {
      // Convert the image into something opencv can handle.
      cv::Mat frame = cv_bridge::toCvShare(image_msg, sensor_msgs::image_encodings::BGR8)->image;

      // Do the work
      cv::Mat dst, dst_norm, dst_norm_scaled;
      dst = cv::Mat::zeros(frame.size(), CV_32FC1);

      cv::Mat src_gray;

      if (frame.channels() > 1)
      {
        cv::cvtColor(frame, src_gray, cv::COLOR_BGR2GRAY);
      }
      else
      {
        src_gray = frame;
        cv::cvtColor(src_gray, frame, cv::COLOR_GRAY2BGR);
      }

      /// Detector parameters
      int block_size = 2;
      int aperture_size = 3;
      double k = 0.04;

      /// Detecting corners
      cv::cornerHarris(src_gray, dst, block_size, aperture_size, k, cv::BORDER_DEFAULT);

      /// Normalizing
      cv::normalize(dst, dst_norm, 0, 255, cv::NORM_MINMAX, CV_32FC1, cv::Mat());
      cv::convertScaleAbs(dst_norm, dst_norm_scaled);

      /// Drawing a circle around corners
      for (int j = 0; j < dst_norm.rows; j++)
      {
        for (int i = 0; i < dst_norm.cols; i++)
        {
          if ((int)dst_norm.at<float>(j, i) > threshold_)
          {
            cv::circle(frame, cv::Point(i, j), 5, cv::Scalar(0), 2, 8, 0);
          }
        }
      }

      /// Create window
      if (debug_view_)
      {
        cv::namedWindow(window_name_, cv::WINDOW_AUTOSIZE);
        const int max_threshold = 255;
        if (need_config_update_)
        {
          config_.threshold = threshold_;
          reconfigure_server_->updateConfig(config_);
          need_config_update_ = false;
        }
        cv::createTrackbar("Threshold:", window_name_, &threshold_, max_threshold, trackbarCallback);
      }

      if (debug_view_)
      {
        cv::imshow(window_name_, frame);
        int c = cv::waitKey(1);
      }

      // Publish the image.
      sensor_msgs::Image::Ptr out_img =
          cv_bridge::CvImage(image_msg->header, sensor_msgs::image_encodings::BGR8, frame).toImageMsg();
      img_pub_.publish(out_img);
    }
    catch (cv::Exception& e)
    {
      NODELET_ERROR("Image processing error: %s %s %s %i", e.err.c_str(), e.func.c_str(), e.file.c_str(), e.line);
    }
  }

  void subscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Subscribing to image topic.");
    if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", queue_size_, &CornerHarrisNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", queue_size_, &CornerHarrisNodelet::imageCallback, this);
  }

  void unsubscribe()  // NOLINT(modernize-use-override)
  {
    NODELET_DEBUG("Unsubscribing from image topic.");
    img_sub_.shutdown();
    cam_sub_.shutdown();
  }

public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    Nodelet::onInit();
    it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));

    pnh_->param("queue_size", queue_size_, 3);
    pnh_->param("debug_view", debug_view_, false);

    if (debug_view_)
    {
      always_subscribe_ = true;
    }

    window_name_ = "CornerHarris Demo";

    reconfigure_server_ = boost::make_shared<dynamic_reconfigure::Server<Config> >(*pnh_);
    dynamic_reconfigure::Server<Config>::CallbackType f =
        boost::bind(&CornerHarrisNodelet::reconfigureCallback, this, _1, _2);
    reconfigure_server_->setCallback(f);

    img_pub_ = advertiseImage(*pnh_, "image", 1);

    onInitPostProcess();
  }
};
bool CornerHarrisNodelet::need_config_update_ = false;
}  // namespace opencv_apps

namespace corner_harris
{
class CornerHarrisNodelet : public opencv_apps::CornerHarrisNodelet
{
public:
  virtual void onInit()  // NOLINT(modernize-use-override)
  {
    ROS_WARN("DeprecationWarning: Nodelet corner_harris/corner_harris is deprecated, "
             "and renamed to opencv_apps/corner_harris.");
    opencv_apps::CornerHarrisNodelet::onInit();
  }
};
}  // namespace corner_harris

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(opencv_apps::CornerHarrisNodelet, nodelet::Nodelet);
PLUGINLIB_EXPORT_CLASS(corner_harris::CornerHarrisNodelet, nodelet::Nodelet);

主要关注其中检测角点的方法：

cpp 复制代码

cv::cornerHarris(src_gray, dst, block_size, aperture_size, k, cv::BORDER_DEFAULT);

参数说明如下：

src_gray：输入的灰度Mat矩阵或浮点图像
dst：存储着哈里斯角点检测的结果，跟源图的尺寸和类型一样
block_size：邻域的大小
aperture_size：Sobel边缘检测滤波器大小
k：Harris中间参数，经验值0.04~0.06
cv::BORDER_DEFAULT：插值类型

我们也可以看到在发布和订阅时，用到的就是指针。

发布时：

cpp 复制代码

sensor_msgs::Image::Ptr out_img =cv_bridge::CvImage(image_msg->header, sensor_msgs::image_encodings::BGR8, frame).toImageMsg();
img_pub_.publish(out_img);

订阅时：

cpp 复制代码

Nodelet::onInit();
it_ = boost::shared_ptr<image_transport::ImageTransport>(new image_transport::ImageTransport(*nh_));

if (config_.use_camera_info)
      cam_sub_ = it_->subscribeCamera("image", queue_size_, &CornerHarrisNodelet::imageCallbackWithInfo, this);
    else
      img_sub_ = it_->subscribe("image", queue_size_, &CornerHarrisNodelet::imageCallback, this);

这样我们在消息传递时，就只需要传指针了，当然这里是针对同一台设备的进程间通信，如果是不同设备那还是需要解引用传输实际内容，因为我们知道ROS的分布节点进行通信的协议是XML-RPC ，本质也是HTTP 协议，只不过编码格式是XML类型，它们之间的传输还得是拷贝内容进行通信。

查看节点关系：rqt_graph，我这里将调试节点隐藏，显得更清晰点，如下图：

可以看到CSI摄像头 图像获取需要经过转换之后最终通过**/Image话题发布给哈里斯角点算法**处理。

识别角点的原理，简单来说就是在特征窗口里面，如果灰度发生了较大的变化，就认为这里是一个角点，有兴趣的可以查阅：harris.cpp

4、霍夫直线检测

接下来的部分，就没有上述那么去分析了，只是熟悉下常用的几个功能。

霍夫直线的检测在计算机视觉和图像处理中用途广泛，可以用于边缘检测、直线检测等。

实际场景中，可以通过从图像中检测出边缘，然后通过识别直线或曲线，将这些边缘连接起来，形成完整的物体。

另外无人驾驶的发展，对于自动化检测道路、车道线等应用也有着广泛的应用。

启动launch文件：roslaunch opencv_apps hough_lines.launch

很好的检测到了我身上的衣服以及上面的"中国"文字，如下图：

5、图像轮廓矩

contour_moments.launch 是启动识别图像中轮廓的矩函数，这里的轮廓矩也可以理解成轮廓的特征，它也有着很广泛的应用：
目标识别 ：提取图像中物体的轮廓特征，可以对目标进行识别和分类。
目标检测 ：通过检测物体的形状和轮廓，来确定目标的位置。
图像分割 ：因为可以对不同的区域进行目标的识别，所以也可以帮助其进行图像的分割。
医学领域 ：可以用来识别图像中的组织器官和患病部位，从而提取特征，进行医学的诊断。

启动：roslaunch opencv_apps contour_moments.launch，如下图：

6、LK光流

LK光流是描述目标运动的方法，利用LK光流可以实现对目标的追踪，从而知道目标的位姿。

LK光流法的前提条件如下：
亮度恒定 ：一个像素点随着时间的变化，其亮度值（像素灰度值）是不能变化的。
小运动 ：时间的变化不会引起位置的剧烈变化。这样才能利用相邻帧之间的位置变化引起的灰度值变化，去求取灰度对位置的偏导数。
空间一致 ：前一帧的相邻像素点在后一帧也是相邻的，因为为了求解x，y方向的速度，需要建立方程组，而空间一致假设就可以利用邻域n个像素点来建立n个方程。

启动：roslaunch opencv_apps lk_flow.launch，如下图：

7、相机相位位移

检测相机移动的快慢，或者里面目标的运动快慢

启动：roslaunch opencv_apps phase_corr.launch，如下图：

移动越快，圆就越大

大概的介绍就先到这儿吧，另外一些关于OpenCV的文章，有兴趣的可以查阅：
OpenCV自带的HAAR级联分类器对脸部(人脸、猫脸等)的检测识别
 OpenCV的HSV颜色空间在无人车中颜色识别的应用