ColorHistogramMatcher¶
What is this¶
Finds objects similar to a selected object as reference based on bhattacharyya distance of color histogram.
Subscribing Topics¶
~input
(sensor_msgs::PointCloud2
):Input point cloud.
~input_indices
(jsk_recognition_msgs::ClusterPointIndices
):Input indices related to input point cloud.
~input_reference_cloud
(sensor_msgs::PointCloud2
):Input target point cloud as reference.
~input_reference
(jsk_recognition_msgs::ColorHistogram
):Input reference color histogram.
Publishing Topic¶
~output
(jsk_recognition_msgs::ClusterPointIndices
):Output Indices of satisfying color histogram similarity.
~output_reference
(jsk_recognition_msgs::ColorHistogram
):Output of histogram from input referenced point cloud.
~output_histograms
(jsk_recognition_msgs::ColorHistogramArray
):Output of all histograms from clustered input point cloud.
~coefficient_points
(sensor_msgs/PointCloud2
):Output of heat map point cloud.
~best_match
(geometry_msgs/PoseStamped
):Output of best match indices points pose.
Parameters¶
coefficient_threshold
(Double, default:0.9
)Threshold for determining color histogram similarity
bin_size
(Double, default:10
)Number of bins of histogram
histogram_method
(Int, default:3
)Histogram Comparing method.
0: HUE
1: SATURATION
2: VALUE
3: HUE AND SATURATION
Sample¶
roslaunch jsk_pcl_ros sample_color_histogram_matcher.launch
Please refer to SelectedClusterPublisher
on how to select a referenced object.