What Is This


The node for removing blurred images from image topics. When a blurred image is subscribed, nothing is published, and when a non-blurred image is subscribed, it is published as is. It detects blurred images by thresholding the value of variance of a Laplacian filtered image.

Subscribing Topic

  • ~input (sensor_msgs/Image)

Image input.

Publishing Topic

  • ~output (sensor_msgs/Image)

Non-blurred image output.

  • ~output/mask (sensor_msgs/Image)

Laplacian filtered image output.

  • ~output/var (std_msgs/Float64)

Laplacian filtered image’s variance.


  • ~min_laplacian_var (Double, default: 400.0)

The threshold of laplacian variance. Increasing this value removes more frames.

For use

roslaunch jsk_perception remove_blurred_frames.launch INPUT_IMAGE:=<your image>


roslaunch jsk_perception sample_remove_blurred_frames.launch