enabled optical flow in camera example

flightros/launch/camera/camera.rviz

@@ -7,7 +7,7 @@ Panels:
         - /Global Options1
         - /Status1
       Splitter Ratio: 0.5
-    Tree Height: 184
+    Tree Height: 190
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -88,6 +88,18 @@ Visualization Manager:
       Transport Hint: raw
       Unreliable: false
       Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /opticalflow
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -139,12 +151,12 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1124
+  Height: 1130
   Hide Left Dock: false
   Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -153,6 +165,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 2048
+  Width: 1920
   X: 0
-  Y: 74
+  Y: 0

flightros/src/camera/camera.cpp

@@ -100,13 +100,11 @@ int main(int argc, char *argv[]) {
     segmentation_msg->header.stamp = timestamp;
     segmentation_pub.publish(segmentation_msg);
 
-    // // The current optical flow is not correct.
-    // // you can still visualize it by uncomment the following code.
-    // rgb_camera->getOpticalFlow(img);
-    // sensor_msgs::ImagePtr opticflow_msg =
-    //   cv_bridge::CvImage(std_msgs::Header(), "bgr8", img).toImageMsg();
-    // opticflow_msg->header.stamp = timestamp;
-    // opticalflow_pub.publish(opticflow_msg);
+    rgb_camera->getOpticalFlow(img);
+    sensor_msgs::ImagePtr opticflow_msg =
+      cv_bridge::CvImage(std_msgs::Header(), "bgr8", img).toImageMsg();
+    opticflow_msg->header.stamp = timestamp;
+    opticalflow_pub.publish(opticflow_msg);
 
     frame_id += 1;
   }