PolygonArrayColorLikelihood

Compute polygon likelihood based on distance of histograms.

Subscribing Topics

• ~input/polygons (jsk_recognition_msgs/PolygonArray)

  Input polygons.

• ~input/histograms (jsk_recognition_msgs/HistogramWithRangeArray)

  Color histogram of input polygons.

• ~input/reference (jsk_recognition_msgs/HistogramWithRange)

  Reference color histogram.

Publishing Topics

• ~output (jsk_recognition_msgs/PolygonArray)

  Output polygons with updated likelihood field.

Parameters

• ~approximate_sync (Bool, default: false)

  Approximately synchronize ~input/polygons and ~input/histograms.

• ~max_queue_size (Int, default: 10)

  Queue size of subscriber

• ~synchronizer_queue_size (Int, default: 100)

  Queue size of message filter

• ~reference_file (String, default: "")

  If this parameter is specified, PolygonArrayColorLikelihood reads reference histogram from a yaml file instead of subscribing ~input/reference.

  The yaml file format is

  bins:
  - 
    min_value: xx
    max_value: xx
    count: xx
  - 
    min_value: xx
    max_value: xx
    count: xx
  

• ~coefficient_method (Int, default: 0)

  Method to compute coefficient between two histograms.

  Choose from correlancy (0), chi_squared (1), intersect (2), bhattacharyya (3), EMD_Manhattan (4) and EMD_Euclid (5).

  This parameter can be changed by dynamic_reconfigure.

Sample

roslaunch jsk_perception sample_polygon_array_color_likelihood.launch