{"action":"created","issue":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/608","labels_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/608/labels{/name}","comments_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/608/comments","events_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/608/events","html_url":"https://github.com/jsk-ros-pkg/jsk_recognition/pull/608","id":54754535,"number":608,"title":"[jsk_perception] Fix metrics of ColorHistogramLabelMatch","user":{"login":"garaemon","id":40454,"avatar_url":"https://avatars.githubusercontent.com/u/40454?v=3","gravatar_id":"","url":"https://api.github.com/users/garaemon","html_url":"https://github.com/garaemon","followers_url":"https://api.github.com/users/garaemon/followers","following_url":"https://api.github.com/users/garaemon/following{/other_user}","gists_url":"https://api.github.com/users/garaemon/gists{/gist_id}","starred_url":"https://api.github.com/users/garaemon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garaemon/subscriptions","organizations_url":"https://api.github.com/users/garaemon/orgs","repos_url":"https://api.github.com/users/garaemon/repos","events_url":"https://api.github.com/users/garaemon/events{/privacy}","received_events_url":"https://api.github.com/users/garaemon/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-01-19T11:45:42Z","updated_at":"2015-01-19T11:46:52Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/pulls/608","html_url":"https://github.com/jsk-ros-pkg/jsk_recognition/pull/608","diff_url":"https://github.com/jsk-ros-pkg/jsk_recognition/pull/608.diff","patch_url":"https://github.com/jsk-ros-pkg/jsk_recognition/pull/608.patch"},"body":"![color_label_match_metrics](https://cloud.githubusercontent.com/assets/40454/5799956/edc2a3f0-a01b-11e4-84e3-cb563aa5a738.png)\r\n\r\nNormalize correlation value between two histogram into [0:1]\r\n\r\n1. correlation\r\n original value is [-1:1] and 1 is perfect. we apply `(1 - x) / 2`\r\n\r\n2. chi-squared\r\n   original value is [0:+inf] and 0 is perfect. we apply `1 / (1 + x^2)`\r\n\r\n3. intersect\r\n    original value is [0:1] and 1 is perfect. we apply `x`\r\n\r\n4. bhattacharyya\r\n    original value is [0:1] and 0 is perfect. we apply `1 - x`\r\n\r\n5. EMD\r\n    original value is [0:+inf] and 0 is perfect. we apply `1 / (1 + x^2)`\r\n\r\n\r\nNow we are very close to detect door handle!\r\n"},"comment":{"url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/comments/70481450","html_url":"https://github.com/jsk-ros-pkg/jsk_recognition/pull/608#issuecomment-70481450","issue_url":"https://api.github.com/repos/jsk-ros-pkg/jsk_recognition/issues/608","id":70481450,"user":{"login":"garaemon","id":40454,"avatar_url":"https://avatars.githubusercontent.com/u/40454?v=3","gravatar_id":"","url":"https://api.github.com/users/garaemon","html_url":"https://github.com/garaemon","followers_url":"https://api.github.com/users/garaemon/followers","following_url":"https://api.github.com/users/garaemon/following{/other_user}","gists_url":"https://api.github.com/users/garaemon/gists{/gist_id}","starred_url":"https://api.github.com/users/garaemon/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/garaemon/subscriptions","organizations_url":"https://api.github.com/users/garaemon/orgs","repos_url":"https://api.github.com/users/garaemon/repos","events_url":"https://api.github.com/users/garaemon/events{/privacy}","received_events_url":"https://api.github.com/users/garaemon/received_events","type":"User","site_admin":false},"created_at":"2015-01-19T11:46:52Z","updated_at":"2015-01-19T11:46:52Z","body":"@YuOhara Please check these metrics.\r\nAs far as I tested, EMD is the best."}}