Compute similar region of image to specified histogram based on superpixels image.

Sample is color_histogram_label_match_sample.launch.

Input Topic

  • ~input/histogram (jsk_recognition_msgs/ColorHistogram)

    Reference histogram.

  • ~input (sensor_msgs/Image)

    Input image. This image should be bgr8 or rgb8 image.

  • ~input/label (sensor_msgs/Image)

    Label of ~input image. Label image should be int32 image.

  • ~input/mask (sensor_msgs/Image)

    Mask image of ~input image. Only masked region is taken into account.

Publishing Topic

  • ~output/extracted_region (sensor_msgs/Image)

    Result of correlation computation as mask image.

  • ~output/coefficient_image (sensor_msgs/Image)

    Result of correlation computation as float image.

  • ~debug (sensor_msgs/Image)

    Debug image


  • ~coefficient_method

    Method to compute coefficient

  • ~max_value (Default: 255)

  • ~min_value (Default: 0)

    Maximum and minimum index of histogram

  • ~masked_coefficient (Default: 0.0)

    Value to fill masked region

  • ~threshold_method

    Method to binalize coefficient image.

  • ~coef_threshold

    Threshold used in binalization.

  • ~use_mask (Default: false)

    Do not use mask image if this parameter is false.