image_time_diff.py

../../_images/image_time_diff_hue_s.jpg ../../_images/image_time_diff_saturation_s.jpg ../../_images/image_time_diff_diff_s.jpg

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

  • rate (Float, default: 10)

    Comparing rate [Hz].

  • ~saturation_threshold (int, default: 0)

    Threshold of saturation to get diff of hue.

    This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_perception sample_image_time_diff.launch