ColorHistogramFilter

color_histogram

Filter point indices using color histogram by comparing with reference histogram

Methods for histogram comparison is configurable from multiple methods. (See parameter ~compare_policy) After computing distance between input histograms and reference, filter by thresholding (See parameter ~distance_threshold) Reference histogram can be set as ~reference topic or as a parameter ~reference_histogram.

Subscribing Topics

• ~input (jsk_recognition_msgs/ColorHistogramArray)

  Input color histogram arrayThe order of each histograms must be the same as the order of input cluster point indices.

• ~input/indices (jsk_recognition_msgs/ClusterPointIndices)

  Input point indices

• ~input/reference (jsk_recognition_msgs/ColorHistogram)

  Reference histogram

  It can be set as a parameter. See parameter ~reference_histogram.

Publishing Topics

• ~output (jsk_recognition_msgs/ColorHistogramArray)

  Filtered color histogram array

• ~output/indices (jsk_recognition_msgs/ClusterPointIndices)

  Filtered cluster point indices

Parameters

• ~queue_size (Int, default: 100)

  Queue size for message synchronization

• ~bin_size (Int, default: 100)

  Bin size for histogram

• ~compare_policy (Enum[Int], default: CORRELATION)

  Policy for histogram values to compare

  • 0: CORRELATION

    • Use correlation

  • 1: BHATTACHARYYA

    • Use bhattacharyya distance

  • 2: INTERSECTION

    • Use vector intersection

  • 3: CHISQUARE

    • Use chi-square between two vectors

  • 4: KL_DIVERGENCE

    • Use Kullback-Leibler divergence for comparing two vectors

• ~distance_threshold (Double, default: 0.6)

  Color histograms and point cloud indices whose similarities are above this value are published as filtered topics.

• ~flip_threshold (Bool, default: false)

  Publish indices whose distance from reference is higher than ~distance_threshold if this value is false. If this value is true, publish indices whose is lower than threshold.

• ~reference_histogram (Float[])

  Reference histogram

  It can also be set as topic. See ~input/reference topic.