PolygonArrayColorHistogram¶
Compute color histogram of the region which is specified by 3-D Polygon.
Subscribing Topics¶
~input
(jsk_recognition_msgs/PolygonArray
)Input 3-D polygon array.
~input/image
(sensor_msgs/Image
)Input image.
~input/info
(sensor_msgs/CameraInfo
)Input camera info.
Publishing Topics¶
~output
(jsk_recognition_msgs/HistogramWithRangeArray
)Histogram array. The order of the array is the same as
~input
polygon array.~debug/polygon_image
(sensor_msgs/Image
)Debug image representing polygons seen from camera.
Parameter¶
~bin_size
(Int, default:10
)The number of histogram bins.
~pixel_min_value
(Int, default:0
)~pixel_max_value
(Int, default:180
)Minimum and maximum value of the histogram.
~debug_line_width
(Int, default:2
)Line width of debug image.
~max_queue_size
(Int, default:10
)Queue size of subscriber
~synchronizer_queue_size
(Int, default:100
)Queue size of message filter
Sample¶
roslaunch jsk_perception sample_polygon_array_color_histogram.launch