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 as HUE_AND_SATURATION, actual vector length of each histogram is bin_size * bin_size, otherwise bin_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

See ColorHistogramVisualizer

Sample

roslaunch jsk_pcl_ros sample_color_histogram.launch