image_time_diff.py

Publish difference between current input image and stored one.

Image is stored when start msgs is subscribed.

Subscribing Topics

  • ~input/hue (sensor_msgs/Image)

  • ~input/saturation (sensor_msgs/Image)

    Input images.

  • ~start (std_msgs/Header)

    Store input image and start comparing.

  • ~stop (std_msgs/Header)

    Release stored image and stop comparing.

Publishing Topics

  • ~output/diff (jsk_recognition_msgs/ImageDifferenceValue)
  • ~output/diff_image (sensor_msgs/Image)

Parameters

  • saturation_threshold (int, default: 0)

    Threshold of saturation to get diff of hue

Sample

roslaunch jsk_perception image_time_diff.launch

and run

rostopic pub -1 /image_time_diff/start std_msgs/Header '{stamp: now}'

to start generating diff image