0.3.6 (2015-09-11)

0.3.5 (2015-09-09)

0.3.4 (2015-09-07)

• Swap doc soft links (to make 'Edit on GitHub' work)
• ColorizeFloatImage correct image link Closes https://github.com/jsk-ros-pkg/jsk_recognition/issues/1165
• Contributors: Kentaro Wada

0.3.3 (2015-09-06)

• [jsk_perception] README.md -> readthedocs.org
• Revert "[jsk_perception] use sphinx for rosdoc" This reverts commit 9e4ba233599b21c6422ec9a45f395b460c53264d.
• [jsk_perception/TabletopColorDifferenceLikelihood] Use geo/polygon.h instead of geo_util.h
• Contributors: Kentaro Wada, Ryohei Ueda

0.3.2 (2015-09-05)

• [jsk_perception] Ignore autogenerated files
• [jsk_perception] Use histograms to compute distance in TabletopColorDifferenceLikelihood
• Contributors: Ryohei Ueda

0.3.1 (2015-09-04)

• [jsk_pcl_ros, jsk_perception] Fix dependency of jsk_recognition_utils for child packages like jsk_rviz_plugins
• Contributors: Ryohei Ueda

0.3.0 (2015-09-04)

• [jsk_perception/CMakeLists.txt] set ROS_PACKAGE_PATH before run roseus using package://
• [jsk_recognition_utils] Introduce new package jsk_recognition_utils in order to use utility libraries defined in jsk_pcl_ros in jsk_perception
• Contributors: Kei Okada, Ryohei Ueda

0.2.18 (2015-09-04)

• [jsk_perception] Do not specify sexp from cmake, just write in file
• [jsk_perception] Add .gitignore about auto-generated files
• [jsk_perception] Add template directory to run eusmodel_template_gen.l correctly
• [jsk_perception] Add PolygonArrayToLabelImage nodelet
• [jsk_perception] Move matchtemplate.py from src to scripts
• [jsk_perception] Move eusmodel_template_gen.l location from src to euslisp
• [jsk_perception] Do not download trained data in compilation time and add script to donload them
• [jsk_perception] use sphinx for rosdoc
• Revert "[jsk_perception] Add rosdoc.yaml to overwrite default file_patterns"
• [package.xml] Updatae Author
• [jsk_perception] use README.md as mainpage.doc
• [jsk_perception] Add rosdoc.yaml to overwrite default file_patterns
• Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda

0.2.17 (2015-08-21)

0.2.16 (2015-08-19)

• [CMakeLists.txt] we can not use rospack within cmake process
• Contributors: Kei Okada

0.2.15 (2015-08-18)

• Merge pull request #1058 from garaemon/uncomment-generate-template Uncomment generate template
• [jsk_perception] Add executable flag to eusmodel_template_gen.l
• [jsk_perception] uncomment generate template
• Contributors: JSK-PR2, Ryohei Ueda

0.2.14 (2015-08-13)

• [jsk_perception] pub posewithcovariancestamped
• [jsk_perception] Add nodelet ColorizeFloatImage to colorize generic float image
• sliding_window_object_detector : opencv3 has different API for cv::ml::SVM
• src/virtual_camera_mono: use cv.hpp and opencv2 code for cv::getPerspectiveTransform
• src/snake_segmentation: snake (legacy.hpp) is disabled on opencv3
• src/point_pose_extractor: use cv.hpp
• linemode is moved to opencv_contrib, disabled for now (only for opencv3)
• src/calc_flow.cpp: use cv.hpp instead of cv.h
• background_substraction: cv::BackgroundSubtractorMOG2 is abstract type for opencv3
• CMakeLists.txt: depends on cv_bridge, not opencv (jsk_perception)
• [jsk_perception] Update readme
• [jsk_perception] Add simple_classifier*
• [jsk_perception] Scripts for bof and its hist extractor
• do not convert image encode in kmeans and gaussian_blur
• Contributors: Kei Okada, Kentaro Wada, Ryohei Ueda, Hitoshi Kamada, Masaki Murooka

0.2.13 (2015-06-11)

• [jsk_perception] Use dynamic_reconfigure in ImageTimeDiff
• [jsk_perception] Update image_time_diff to use hue/saturation
• [jsk_perception] Add Kmeans section to README
• [jek_perception] Add kmeans
• [jsk_perception] Add GaussignBlur section to README
• [jsk_perception] Add gaussian_blur
• [jsk_perception] Update README.md for squashing dilate/erode
• [jsk_perception] Squash erode/dilate to morphological_operator
• [jsk_perception] Update README.md for morphological operators
• [jsk_perception] Add advanced morphological transformations
• [jsk_perception] Use isBGR/isRGB/isBGRA/isRGBA in ApplyMaskImage
• [jsk_perception] Add isBGR/isRGB/isBGRA/isRGBA
• [jsk_perception] Use header to synchronize in ImageTimeDiff
• [jsk_perception] Update image_time_diff.py to use ImageDifferenceValue.msg
• [jsk_perception] Update docs of image_time_diff for output
• [jsk_perception] Publish with stamp in image_time_diff
• [jsk_perception/image_publisher] Do not exit program even though no file is found
• uncomment camera_info_cb
• add subscription of image_raw
• Updated Sliding window detector. - Removed the trainer - Added Bootstraper
• [jsk_perception] Update README for #927
• [jsk_perception] Enable apply_mask convert mask black to transparent
• Changed from reading saved image from directory to RosBag files
• [jsk_perception] Use jsk_topic_tools/log_utils.h for JSK_ROS_INFO, JSK_NODELET_INFO and so on
• [jsk_perception] add diff per pixel to ImageTimeDiff
• [jsk_perception] Fix bug in apply_mask in converting BGRA/RGBA input image
• [jsk_perception] remove no need get_param in image_publisher
• [jsk_perception] Enable HSVDecomposer to handle BGRA/RGBA image
• [jsk_perception] Enable ApplyMask handle BGRA/RGBA image
• [jsk_perception] ApplyMask Mono8 encoding to publish mask
• [jsk_perception] Add publish_info param to image_publisher
• [jsk_perception] Add dynamic_reconfigure feature to ImagePublisher
• [jsk_perception] Publish the difference between start and current image
• [jsk_perception][ApplyMaskImage] mask image should be mono8
• Node to for training the classifier for Sliding Window Object Detector
• [jsk_perception] Ignore trained_data directory from git filesystem
• Contributors: Kentaro Wada, Ryohei Ueda, Eisoku Kuroiwa, Krishneel Chaudhary

0.2.12 (2015-05-04)

• Revert "[jsk_perception/point_pose_extractor] Use OpenCV's matcher class to estimate mathcing"
• [jsk_perception/point_pose_extractor] Use OpenCV's matcher class to estimate mathcing
• [jsk_perception/point_pose_extractor] Add license header
• [jsk_perception] Untabify point_pose_extractor.cpp
• [jsk_perception/point_pose_extractor] Publish PoseStamped from point_pose_extractor result
• add ROS_INFO
• [jsk_perception] check if pcam.intrinsicMatrix is valid
• [jsk_perception] Download drill trained data in compiling time
• Removed opencv non-free header directive Corrected the nodelet name in CMakeLists.txt
• Corrected the nodelet name in CMakeLists.txt
• Removed opencv non-free header directive
• Nodelet for Edge, Contour Thinning and Nodelet for Sliding window object detector
• [jsk_perception] add Fisheye Rotate parameter
• add upside down option to cfg
• add Fisheye Ray Publisher
• [jsk_perception] Add ProjectImagePoint nodelet to project image local coordinates into 3-D point
• [jsk_perception] Update README for fisheye
• [jsk_perception] update Fisheye To Panoarama
• [jsk_perception] Modify typo
• [jsk_perception] Add MaskImageGenerator
• add scale command to shrink the output and make faster
• add cfg
• [jsk_perception] Add fisheye rectify
• [jsk_perception] Add attributeError message to image_publisher.py
• [jsk_perception] Fix README.md about erode/dilate nodelets
• Merge pull request #834 from wkentaro/update-readme-for-pr-811 [jsk_perception] Update README for histogram max_value of SingleChannelHistogram
• [jsk_perception] Update README for histogram max_value of SingleChannelHistogram
• [jsk_perception] Update README for iterations param of Dilate/ErodeMaskImage
• [jsk_perception] Add iteration param to DilateMaskImage & ErodeMaskImage
• Contributors: Kamada Hitoshi, Kentaro Wada, Ryohei Ueda, Yuto Inagaki, iKrishneel

0.2.11 (2015-04-13)

• add encoded points rate
• Contributors: Kamada Hitoshi

0.2.10 (2015-04-09)

• [jsk_perception] add Simple Fisheye to Panorama
• [jsk_perception] changed order of dynamic reconfigure
• [jsk_perception] default max value of histogram should be 256 to include 255 pixel
• [jsk_perception] print number of point when encoding sparse image
• [jsk_perception] Publish empty camera info from image_publisher.py
• [jsk_perception] Add sample for ColorHistogramLabelMatch
• [jsk_perception] Add documentation about ColorHistogramLabelMatch
• Contributors: Yuki Furuta, Ryohei Ueda, Yuto Inagaki, Kamada Hitoshi, Kentaro Wada

0.2.9 (2015-03-29)

• 0.2.8
• Update Changelog
• Contributors: Ryohei Ueda

0.2.8 (2015-03-29)

0.2.7 (2015-03-26)

0.2.6 (2015-03-25)

0.2.5 (2015-03-17)

• check target cloud data ifnot invalid
• Validate image message without image array (width == 0 and height == 0)
• Enhance: more specific error exception
• Change to avoid SyntaxWarning about not assigning rospy.Publisher argument queue_size
• Change import libs with reasonable order (thirdparty -> ros)
• Contributors: Kentaro Wada, Yu Ohara

0.2.4 (2015-03-08)

• [jsk_perception] Add simple script to publish image file into ros image
• Fix license: WillowGarage -> JSK Lab
• Contributors: Ryohei Ueda

0.2.3 (2015-02-02)

• [jsk_pcl_ros, jsk_perception] Move mask image operation to jsk_perception
• Remove rosbuild files
• [jsk_perception] Add ErodeMaskImage nodelet
• [jsk_perception] Add DilateMaskImage
• Contributors: Ryohei Ueda

0.2.2 (2015-01-30)

• [jsk_perception] add posedetection_msgs
• add image_view2 to depends
• Contributors: Kei Okada

0.2.1 (2015-01-30)

• add image_view2 to depends

0.2.0 (2015-01-29)

0.1.34 (2015-01-29)

• [jsk_perception, checkerboard_detector] Remove dependency to jsk_pcl_ros
• [jsk_pcl_ros, jsk_perception] Move find_object_on_plane from jsk_perception to jsk_pcl_ros to make these packages independent
• [jsk_pcl_ros, jsk_perception] Use jsk_recognition_msgs
• [jsk_pcl_ros, jsk_perception, resized_image_transport] Do not include jsk_topic_tools/nodelet.cmake because it is exported by CFG_EXTRAS
• [imagesift] Better support of masking image: 1) Use jsk_perception::boundingRectOfMaskImage to compute ROI 2) support mask image in imagesift.cpp to make better performance
• [jsk_perception] Export library
• [jsk_perception] Do not use cv::boundingRect to compute bounding box of mask image
• [jsk_perception] install include directory of jsk_perception
• Contributors: Ryohei Ueda

0.1.33 (2015-01-24)

• [jsk_perception] FindObjectOnPlane: Find object on plane from 2d binary image and 3-d polygon coefficients
• [jsk_perception] Publish convex hull image of mask from ContourFinder
• [jsk_perception] Fix min_area parameter to work in BlobDetector
• [jsk_pcl_ros, jsk_perception] Fix CmakeList for catkin build. Check jsk_topic_tools_SOURCE_PREFIX
• [jsk_perception] Add MultiplyMaskImage
• [jsk_perception] Add ~approximate_sync parameter to toggle exact/approximate synchronization
• [jsk_perception] Add UnapplyMaskImage
• [jsk_perception] Add blob image to document
• [jsk_perception] Add BlobDetector
• [jsk_perception] Colorize label 0 as black because label-0 indicates masked region
• [jsk_perception] AddMaskImage to add two mask images into one image
• [jsk_perception] Increase label index of SLICSuperPixels to avoid 0. 0 is planned to be used as 'masked'
• [jsk_perception] Publish result binary image as mono image from ColorHistogramMatch
• [jsk_perception] Extract mask image from coefficients of histogram matching in ColorHistogramLabelMatch
• [jsk_perception] Publish result of coefficient calculation as float image
• [jsk_perception] Support mask image in ColorHistogramLabelMatch
• [jsk_perception] Use OpenCV's function to normalize histogram and add min and max value of histogram in ColorHistogramLabelMatch
• [jsk_perception] Add ~min_value and ~max_value to SingleChannelHistogram
• [jsk_perception] SingleChannelHistogram to compute histogram of single channel image
• [jsk_perception] Add YCrCb decomposer
• [jsk_perception] Add LabDecomposer to decompose BGR/RGB image into Lab color space
• [jsk_perception] Use cv::split to split bgr and hsv image into each channel
• [jsk_perception] Fix metrics of ColorHistogramLabelMatch: 1) correlation original value is [-1:1] and 1 is perfect. we apply (1 - x) / 2 2) chi-squared original value is [0:+inf] and 0 is perfect. we apply 1 / (1 + x^2) 3) intersect original value is [0:1] and 1 is perfect. we apply x 4) bhattacharyya original value is [0:1] and 0 is perfect. we apply 1 - x 5, 6) EMD original value is [0:+inf] and 0 is perfect. we apply 1 / (1 + x^2)
• [jsk_perception] Publish more useful debug image from SLICSuperPixels and add documentation.
• [jsk_perception] Publish image of interest from ColorHistogram
• [jsk_perception] Implement 6 different method to compute coefficients between two histograms
• [jsk_perception] Increase the maximum number of super pixels
• [jsk_perception] Fix ColorHistogram minor bags: 1. Support rect message out side of image 2. Use mask image in HSV histogram calculation
• [jsk_perception] Fix HSVDecomposer color space conversion: support RGB8
• [jsk_perception] color matching based on histogram and label information
• [jsk_perception] Add utlity to visualize mask image: ApplyMaskImage
• [jsk_perception] Add GridLabel
• [jsk_perception] Publish hisotgram messages under private namespace
• [jsk_perception] Add simple launch file as sample of superpixels
• [jsk_perception] Utility to colorize labels of segmentation
• [jsk_perception] Fix SLICSuperPixels: 1) if input image if BGR8 2) transpose the result of clustering
• [jsk_perception] Publish segmentation result as cv::Mat<int> and use patched version of SLIC-SuperPixels to get better performance
• [jsk_perception] Support RGB8 and gray scale color in SLICSuperPixels
• [jsk_perception] Add dynamic_reconfigure interface to SLICSuperPixels
• [jsk_perception] Separate SLICSuperPixels into header and cpp files
• [jsk_perception] Publish result of segmentation of slic superpixels as image
• [jsk_perception] Add snake segmentation
• [jsk_perception] ContourFinder
• [jsk_perception] Support one-channel image in GrabCut
• [jsk_perception] HSVDecomposer to decompose RGB into HSV separate images
• [jsk_perception] Add RGBDecomposer to decompose RGB channels into separate images
• Contributors: Ryohei Ueda

0.1.32 (2015-01-12)

0.1.31 (2015-01-08)

• [jsk_perception] Add parameter to select seed policy (definitely back/foreground or probably back/foreground) to GrabCut
• adapt attention-clipper for fridge demo
• [jsk_perception] Publish mask image of grabcut result
• [jsk_perception] add GrabCut nodelet
• Remove roseus from build dependency of jsk_perception
• added debug pub

0.1.30 (2014-12-24)

0.1.29 (2014-12-24)

• added some more parameters for detection
• Contributors: Yu Ohara

0.1.28 (2014-12-17)

• added param to set threshold of best_Windoq
• Add dynamic reconfigure to background substraction
• Clean up background substraction codes
• Add background substraction
• Support image mask in ColorHistogram
• Separate header and cpp file of color_hisotgram
• Use jsk_topic_tools::DiagnosticNodelet for color histogram
• Fix coding style of color_histogram
• Fix indent of linemod.cpp
• Add linemod sample
• changed color_histogram_matcher to pub box_array defined in jsk_pcl_ros

0.1.27 (2014-12-09)

• added some algolism to get best window
• changed codes to pub center of object
• matchedPointPub by 2dResult of colorhistogram matching
• changed color_histogram_sliding_matcher and added launch to show result
• Contributors: Yu Ohara

0.1.26 (2014-11-23)

0.1.25 (2014-11-21)

• kalmanfilter
• changed name
• added codes in catkin.cmake
• added cfg
• added color_histogram_mathcer_node

0.1.24 (2014-11-15)

• servicecall
• Use intrinsicMatrix instead of projectionMatrix to specify 3x3 matrix(K) instead of 4x3 matrix(P)
• remove eigen and add cmake_modules to find_package for indigo
• fix: use projectionMatrix() for indigo
• Add script to setup training assistant for opencv-like dataset
• Add script to check opencv cascade file
• Script to reject positive data for OpenCV training
• renamed only-perception.launch
• calc existance probability
• removed kalmanlib.l from jsk_perception
• add kalman-filter library
• Contributors: Ryohei Ueda, Hitoshi Kamada, Kei Okada, Kamada Hitoshi

0.1.23 (2014-10-09)

• Install nodelet executables
• mend spell-miss in launch
• modified program to select which camera_info to sub
• renamed camera_node to uvc_camera_node, and added some options
• modified detection-interface.l
• Contributors: Ryohei Ueda, Kamada, Yu Ohara

0.1.22 (2014-09-24)

• Disable ssl when calling git
• Contributors: Ryohei Ueda

0.1.21 (2014-09-20)

• Add more diagnostics to OrganizedMultiPlaneSegmentation and fix global hook for ConvexHull
• Contributors: Ryohei Ueda

0.1.20 (2014-09-17)

0.1.19 (2014-09-15)

0.1.18 (2014-09-13)

• add git to build_depend of jsk_libfreenect2
• Contributors: Ryohei Ueda

0.1.17 (2014-09-07)

• add mk/git to build_depend
• Contributors: Kei Okada

0.1.16 (2014-09-04)

• do not use rosrun in the script of jsk_perception/src/eusmodel_template_gen.sh
• Contributors: Ryohei Ueda

0.1.14 (2014-08-01)

0.1.13 (2014-07-29)

0.1.12 (2014-07-24)

• fix to use catkin to link rospack
• Contributors: Kei Okada, Dave Coleman

0.1.11 (2014-07-08)

• jsk_perception does not depends on pcl, but depends on eigen and tf
• Contributors: Ryohei Ueda

0.1.10 (2014-07-07)

• adding oriented_gradient_node
• add calc_flow program to calc optical flow
• Contributors: Ryohei Ueda, Hiroaki Yaguchi

0.1.9 (2014-07-01)

0.1.8 (2014-06-29)

• initialize _img_ptr at first
• convert color image to GRAY
• add nodelet to detect circles based on hough transformation
• add program to compute color histogram (rgb and hsv color space)
• maked configure_file to create imagesurf, imagestar and imagebrisk automatically
• added the programs to use cv_detection
• Contributors: Ryohei Ueda, Yusuke Furuta, Yu Ohara

0.1.7 (2014-05-31)

0.1.6 (2014-05-30)

0.1.5 (2014-05-29)

• add service interface with sensor_msgs/SetCameraInfo to camshiftdemo, not only mouse selection.
• Contributors: Ryohei Ueda

0.1.4 (2014-04-25)

• add sparse_image program to jsk_percepton
• make edge_detector nodelet class
• Contributors: Ryohei Ueda, Yuki Furuta
• Merge pull request #47 from k-okada/add_rosbuild
• Contributors: Kei Okada

0.1.3 (2014-04-12)

0.1.2 (2014-04-11)

0.1.1 (2014-04-10)

• catkinize jsk_perception
• check initialization in check_subscribers function
• change callback function names for avoiding the same name functions
• add edge_detector.launch
• change debug message
• rename type -> atype
• fix minor bug
• change for treating multiple objects in one ObjectDetection.msg
• add test programs
• add rosbuild_link_boost for compile on fuerte/12.04 , see Issue #224, thanks tnakaoka
• add rectangle_detector, based on http://opencv-code.com/tutorials/automatic-perspective-correction-for-quadrilateral-objects/
• update hoguh_lines
• use blur before canny
• add image_proc modules from opencv samples
• change error_threshold max 200 -> 2000
• add :detection-topic keyword to (check-detection)
• replace sleep to :ros-wait for making interruptible
• add scripts for speaking english
• speak before sleep
• add to spek we're looking for...
• print out debug info
• turtlebot/ros pdf
• add ros/turtlebot-logo images #173
• update japanese speaking
• modify parameter definition. parameter should not be overwritten.
• add option publish-objectdetection-marker
• add slot :diff-rotation in detection_interface.l
• do not create ros::roseus object by load detection_interface.l
• publish tf from sensor frame to detected object pose
• update objectdetection-marker program for new detection_interface
• publish tf and markers, add messages
• print out error value
• fix segfault
• suppor rpy style in relative_pose, status:closed #139
• add :target-object keyword to check-detection
• fix : project3dToPixel was removed in groovy
• update to use cv_bridge
• fix for groovy, use cv_bridge not CvBridge
• fix: speak content
• fix: speak-jp
• fix template location
• add microwave detection sample
• add speak-name for speaking japanease object name
• add speak words
• update detction_interface.l for single detection and speak flag
• add solve-tf parameter for not using tf
• add frame_id for coordinates
• add detection_interface.l for using point_pose_extractor
• remove euclidean_cluster,plane_detector and color_extractor from jsk_perception, they are supported in tabletop and pcl apps should go into jsk_pcl_ros
• add max_output
• add opencv2 to rosdep.yaml for compatibility
• update to fit opencv2 electric/fuerte convention
• fix for fuerte see https://code.ros.org/trac/ros/ticket/3955
• add size check
• fix btVector3 -> tf::Vector3
• fix remove define KdTreePtr
• fix style: support ROSPACK_API_V2 (fuerte)
• support ROSPACK_API_V2 (fuerte)
• fix for pcl > 1.3.0, pcl::KdTree -> pcl::search::KdTree, pcl::KdTreeFLANN -> pcl::search::KdTree
• remove explicit dependency to eigen from jsk_perception
• add whilte_balance_param.yaml
• add publish_array for publishing pointsarray
• move posedetectiondb/SetTemplate -> jsk_perception/SetTemplate
• add color_extractor, plane_detector, euclidean_clustering for jsk_perception
• fixed the package name of WhiteBalance.srv
• add eigen to dependency
• add white_balance_converter to jsk_perception
• change msg from face_detector_mono/Rect -> jsk_perception/Rect. I couldn't find set_serch_rect string under jsk-ros-pkg
• node moved from virtual_camera
• check if the matched region does not too big or too small
• add dynamic reconfigure for point_pose_extractor
• split launch for elevator_navigation, to test modules
• fix for oneiric
• fix for users who does not have roseus in their PATH
• ns can't be empty string in launch xml syntax
• commit updates for demo
• added tv-controller with ut logo
• added tv-controller with ut logo
• fixed the size of wrap image, which is calcurated from input (width/height)
• add to write wrapped image
• add error handling and output template file
• add opencv-logo2.png
• add lipton milktea model, auto generated file prefix .launch -> .xml to avoid listed by auto complete
• add sharp rimokon with ist logo
• changed variable name client -> clients
• add sharp tv controller to sample
• add sample for detection launcher generator
• use try to catch assertions
• set Zero as distortionMatrix, because ImageFeature0D.image is rectified
• fixed the box pose in debug image
• changed code for generate SIFT template info
• use projectionMatrix instead of intrinsicMatrix in solvePnP, remove CvBridge -> cv_bridge
• fix to work without roseus path in PATH
• fix relative pose, object coords to texture coords
• update generation script of SIFT pose estimation launcher, relative pose is not correct
• update eusmodel->sift_perception script
• change detection launch generation script to use jsk_perception/point_pose_extractor
• add std namespace appropriately
• update initialize template method
• publish the debug_image of point_pose_extractor
• chnage the output frame id when using only one template
• change threashold for detectiong object
• use /ObjectDetection_agg instead of /ObjectDetection
• add _agg output topic for debug and logging
• add debug message, set lifetime to 1 sec
• add objectdetection-marker.l
• add relative pose parameter to point_pose_extractor.cpp
• change the PutText region
• update sample launch file, point pose extractor do not subscribe input topics when output is not subscribed
• add viewer_window option to disable the OpenCV window
• empty window name to disable window, point_pose_extractor
• move posedetectiondb to jsk_visioncommon
• moved jsk_vision to jsk_visioncommon
• Contributors: Haseru Chen, Kazuto Murai, Youhei Kakiuchi, Yuki Furuta, Kei Okada, Yuto Inagaki, Manabu Saito, Rosen Dinakov, HiroyukiMikita