37 #ifndef JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_ 38 #define JSK_PERCEPTION_BACKGROUND_SUBSTRACTION_H_ 41 #include <opencv2/opencv.hpp> 42 #if ( CV_MAJOR_VERSION >= 4) 44 #include <opencv/cv.hpp> 50 #include <sensor_msgs/Image.h> 52 #include <dynamic_reconfigure/server.h> 53 #include <jsk_perception/BackgroundSubstractionConfig.h> 61 typedef jsk_perception::BackgroundSubstractionConfig
Config;
70 const sensor_msgs::Image::ConstPtr& image_msg);
85 #if CV_MAJOR_VERSION >= 3 86 cv::Ptr<cv::BackgroundSubtractorMOG2>
bg_;
88 cv::BackgroundSubtractorMOG2
bg_;
virtual void configCallback(Config &config, uint32_t level)
jsk_perception::BackgroundSubstractionConfig Config
virtual void unsubscribe()
boost::shared_ptr< dynamic_reconfigure::Server< Config > > srv_
cv::BackgroundSubtractorMOG2 bg_
virtual void substract(const sensor_msgs::Image::ConstPtr &image_msg)
image_transport::Subscriber sub_
boost::shared_ptr< image_transport::ImageTransport > it_
ros::Publisher image_pub_