Compute polygon likelihood based on distance of histograms.

Subscribing Topics

  • ~input/polygons (jsk_recognition_msgs/PolygonArray)

    Input polygons.

  • ~input/histograms (jsk_recognition_msgs/HistogramWithRangeArray)

    Color histogram of input polygons.

  • ~input/reference (jsk_recognition_msgs/HistogramWithRange)

    Reference color histogram.

Publishing Topics

  • ~output (jsk_recognition_msgs/PolygonArray)

    Output polygons with updated likelihood field.


  • ~approximate_sync (default: false)

    Approximately synchronize ~input/polygons and ~input/histograms.

  • ~max_queue_size (default: 10)

    Queue size of subscriber

  • ~synchronizer_queue_size (default: 100)

    Queue size of message filter

  • ~reference_file

    If this parameter is specified, PolygonArrayColorLikelihood reads reference histogram from a yaml file instead of subscribing ~input/reference. The yaml file format is

      min_value: xx
      max_value: xx
      count: xx
      min_value: xx
      max_value: xx
      count: xx