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)
andEMD_Euclid (5)
.This parameter can be changed by
dynamic_reconfigure
.
Sample¶
roslaunch jsk_perception sample_polygon_array_color_likelihood.launch