optical modified

ros_ws/vanishing_point/vanishing_point/optical_flow_node.py

-# optical_flow_node.py
-
 import rclpy
 from rclpy.node import Node
 from sensor_msgs.msg import CompressedImage
@@ -23,26 +21,25 @@ class OpticalFlowNode(Node):
         image = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
         gray_image = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
 
-    # 读取当前帧和上一帧的强度曲线
         if not hasattr(self, 'previous_gray_image'):
             self.previous_gray_image = gray_image
             return
 
-        curve1 = self.previous_gray_image[100, :]  # 选取水平线作为曲线1
-        curve2 = gray_image[100, :]  # 当前帧作为曲线2
+        row_index = 100
+        curve1 = self.previous_gray_image[row_index, :]
+        curve2 = gray_image[row_index, :]
 
-    # 计算局部位移
         shifts = local_shift_computation(curve1, curve2)
-        draw_function(image, shifts, hmin=0, hmax=image.shape[0], ymin=-50, ymax=50, color=(255, 0, 0), thickness=1)
 
-    # 显示图像
+        draw_function(image, curve1, hmin=0, hmax=image.shape[0], ymin=0, ymax=255, color=(255, 0, 0), thickness=1)
+        draw_function(image, curve2, hmin=0, hmax=image.shape[0], ymin=0, ymax=255, color=(0, 165, 255), thickness=1)
+
         cv2.imshow("Optical Flow Image", image)
-        cv2.waitKey(1)
+        print("Press Enter to view the next frame...")
+        cv2.waitKey(0)  # Wait for Enter key
 
-    # 更新上一帧
         self.previous_gray_image = gray_image
 
-
 def main(args=None):
     rclpy.init(args=args)
     optical_flow_node = OpticalFlowNode()