ColorHistogramLabelMatch¶
Compute similar region of image to specified histogram based on superpixels image.
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
Parameters¶
~coefficient_method
(Int, Default:0
)Method to compute coefficient.
Choose from
correlancy (0)
,chi_squared (1)
,intersect (2)
,bhattacharyya (3)
,EMD_Manhattan (4)
andEMD_Euclid (5)
.This parameter can be changed by
dynamic_reconfigure
.~max_value
(Int, Default:255
)~min_value
(Int, Default:0
)Maximum and minimum index of histogram
These parameters can be changed by
dynamic_reconfigure
.~masked_coefficient
(Float, Default:0.0
)Value to fill masked region
This parameter can be changed by
dynamic_reconfigure
.~threshold_method
(Int, Default:0
)Method to binalize coefficient image.
Choose from
smaller_than (0)
,greater_than (1)
,otsu (2)
andotsu_inv (3)
.This parameter can be changed by
dynamic_reconfigure
.~coef_threshold
(Float, Default:0.8
)Threshold used in binalization.
This parameter can be changed by
dynamic_reconfigure
.~use_mask
(Default:false
)Do not use mask image if this parameter is false.
Sample¶
roslaunch jsk_perception sample_color_histogram_label_match.launch