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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 histogram
    If 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