RemoveBlurredFrames¶
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.
Parameters¶
~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>
Sample¶
roslaunch jsk_perception sample_remove_blurred_frames.launch