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<launch>
<node pkg="uvc_camera" type="uvc_camera_node" name="camera" />
<node pkg="image_view2" type="image_view2" name="image_view2">
<remap from="image" to="image_raw" />
</node>
<node pkg="jsk_perception" type="slic_super_pixels" name="super_pixels"
respawn="true">
<remap from="image" to="image_raw"/>
</node>
<node pkg="image_view" type="image_view" name="super_pixels_view">
<remap from="image" to="super_pixels/debug" />
</node>
<node pkg="jsk_perception" type="hsv_decomposer" name="hsv_decomposer">
<remap from="~input" to="image_raw" />
</node>
<node pkg="jsk_perception" type="rect_to_mask_image" name="rect_to_mask_image">
<remap from="~input" to="image_raw/screenrectangle" />
<remap from="~input/camera_info" to="camera_info" />
</node>
<node pkg="jsk_perception" type="single_channel_histogram" name="reference_hue_histogram">
<rosparam>
use_mask: true
hist_size: 100
</rosparam>
<remap from="~input" to="hsv_decomposer/output/hue" />
<remap from="~input/mask" to="rect_to_mask_image/output" />
</node>
<node pkg="image_view" type="image_view" name="mask_view">
<remap from="image" to="rect_to_mask_image/output" />
</node>
<node pkg="jsk_perception" type="color_histogram_label_match" name="color_histogram_label_match">
<remap from="~input" to="hsv_decomposer/output/hue" />
<remap from="~input/label" to="super_pixels/output" />
<remap from="~input/mask" to="rect_to_mask_image/output"/>
<remap from="~input/histogram" to="reference_hue_histogram/output" />
<rosparam>
use_mask: false
threshold_method: 2
</rosparam>
</node>
<node pkg="image_view" type="image_view" name="coef_view">
<remap from="image" to="color_histogram_label_match/output/coefficient_image" />
</node>
<node pkg="image_view" type="image_view" name="region_view">
<remap from="image" to="color_histogram_label_match/output/extracted_region" />
</node>
</launch>
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