Package Summary
The ros client for roboception silhouette match module
- Maintainer status: developed
- Maintainer: Felix Ruess <felix.ruess AT roboception DOT de>
- Author: Elena Gambaro <elena.gambaro AT roboception DOT de>
- License: BSD
- Bug / feature tracker: https://github.com/roboception/rc_visard_ros/issues
- Source: git https://github.com/roboception/rc_visard_ros.git (branch: master)
Package Summary
The ros client for roboception silhouette match module
- Maintainer status: developed
- Maintainer: Felix Ruess <felix.ruess AT roboception DOT de>
- Author: Elena Gambaro <elena.gambaro AT roboception DOT de>
- License: BSD
- Bug / feature tracker: https://github.com/roboception/rc_visard_ros/issues
- Source: git https://github.com/roboception/rc_visard_ros.git (branch: master)
Package Summary
The ros client for roboception silhouette match module
- Maintainer status: developed
- Maintainer: Felix Ruess <felix.ruess AT roboception DOT de>
- Author: Elena Gambaro <elena.gambaro AT roboception DOT de>
- License: BSD
- Bug / feature tracker: https://github.com/roboception/rc_visard_ros/issues
- Source: git https://github.com/roboception/rc_visard_ros.git (branch: master)
Contents
See http://rc-visard.com and http://doc.rc-visard.com for more details.
This package is still in development and the API might change in the future. Please report any bugs or feature requests on GitHub.
Overview
The SilhouetteMatch component is an optional on-board component of the rc_visard, which detects objects by matching a predefined silhouette (“template”) to edges in an image.
For detail description check the following link: https://doc.rc-visard.com/latest/en/silhouettematch.html
Configuration
Parameters
device: The ID of the device, i.e. Roboception rc_visard sensor. This can be either:
serial number, e.g. 02912345.
Preceed with a colon (:02912345) when passing this on the commandline or setting it via rosparam (see https://github.com/ros/ros_comm/issues/1339). This is not neccessary when specifying it as a string in a launch file.
- user defined name must be unique among all reachable sensors.
host: If device is not used. The IP address or hostname of the rc_visard.
Dynamic reconfigure parameters
max_number_of_detected_objects: Maximum number of detected objects.
edge_sensitivity: Sensitivity of the edge detector.
match_max_distance: Maximum allowed distance in pixels between the template and the detected edges in the image.
match_percentile: Percentage of template pixels that must be within the maximum distance to successfully match the template.
quality: Detection quality (H(igh), M(edium), or L(ow)).
publish_vis: Whether TF and markers should be published.
Services
The following services are offered by the node:
detect_object: Triggers detection of an object.
calibrate_base_plane: Triggers base-plane calibration.
get_base_plane_calibration: Returns the configured base-plane calibration.
delete_base_plane_calibration: Deletes the configured base-plane calibration.
set_region_of_interest: Sets a region of interest.
get_regions_of_interest: Returns the configured regions of interest with the requested ids.
- If no ids are provided, all configured regions of interest are returned.
delete_regions_of_interest: Deletes the configured regions of interest with the requested ids.
Launch
Using command line parameters:
rosrun rc_silhouettematch_client rc_silhouettematch_client _device:=:<serial_number>
Report a Bug
Use GitHub to report bugs or submit feature requests. [View active issues]
Acknowledgements
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
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This project has received funding from the European Union’s Horizon 2020 |