Calculate camera coordinates for candidate.
Load parameters in project launch file.
Save grayscale and color version of images.
Calculate histogram of training image.
Put number of bins for histogram in config file.
Implement color histogram matching.
Improve transformation from 3D to image position.
Only match regions around object candidates.
Normalize histogram before comparing it.
The color error now influences the object recognition.
Write object candidate module in object oriented way.
Define valid region for candidates on parameter server.
Update parameters to new robot hardware configuration.
Add missing trailing slash. Candidate config is correct now.
Currect bug in camera config. Correct formula for getRect.
Correct transformation from 3D to image position.
Slight changes in API for candShow.
Don't even try to match keypoints if none were detected.
Correct max range for hue and saturation.
Clean up printed message in main module.
Correct topic name for color image. Adjust value range for histogram.