ColorHistogram¶
hue_sat
Compute color histogram for each cluster point indices.
Subscribing Topics¶
~input
(sensor_msgs/PointCloud2
)Input point cloud
~input/indices
(jsk_recognition_msgs/ClusterPointIndices
)Input point indices
Publishing Topics¶
~output
(jsk_recognition_msgs/ColorHistogramArray
)Color histogram for each point indices Each histogram contains either Hue, Saturation (as 1-d vector) or both of two values (as 2-d matrix). (configurable by parameter
~histogram_policy
) Bin size is also configurable by parameter~bin_size
.
Parameters¶
~queue_size
(Int
, default:100
)Queue size for message synchronization
~bin_size
(Int
, default:100
)Bin size for histogramIf a parameter
~histogram_policy
is set asHUE_AND_SATURATION
, actual vector length of each histogram isbin_size * bin_size
, otherwisebin_size
.~histogram_policy
(Enum[Int]
, default:HUE_AND_SATURATION
)Policy for histogram values to accumulate
0:
HUE
Use hue only
1:
SATURATION
Use saturation only
2:
HUE_AND_SATURATION
Use both hue and saturation as 2-d matrix
How to visualize¶
Sample¶
roslaunch jsk_pcl_ros sample_color_histogram.launch