ColorHistogramMatcher

What is this

../../_images/color_histogram_matcher.png

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.