remove_blurred_frames.h

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// -*- mode: C++ -*-
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/*
 * remove_blurred_frames.h
 * Author: Yoshiki Obinata <obinata@jsk.imi.i.u-tokyo.ac.jp>
 */
 
#ifndef REMOVE_BLURRED_FRAMES_H_
#define REMOVE_BLURRED_FRAMES_H_
 
#include <jsk_topic_tools/diagnostic_nodelet.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_perception/RemoveBlurredFramesConfig.h>
#include <sensor_msgs/Image.h>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <std_msgs/Float64.h>
 
namespace jsk_perception{
    class RemoveBlurredFrames: public jsk_topic_tools::DiagnosticNodelet{
    public:
        typedef RemoveBlurredFramesConfig Config;
    RemoveBlurredFrames() : DiagnosticNodelet("RemoveBlurredFrames") {}
    protected:
        virtual void onInit();
        virtual void subscribe();
        virtual void unsubscribe();
        virtual void work(const sensor_msgs::Image::ConstPtr& image_msg);
        virtual void configCallback(Config &config, uint32_t level);
 
        boost::shared_ptr<dynamic_reconfigure::Server<Config> > srv_;
        ros::Subscriber sub_;
        ros::Publisher pub_, pub_masked_, pub_var_;
        boost::mutex mutex_;
    private:
        double min_laplacian_var_;
        double threshold_;
 
    };
}
 
#endif // REMOVE_BLURRED_FRAMES_H_