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See http://rc-visard.com and http://doc.rc-visard.com for more details.

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.
  If no device or host is given, this parameter works if just one rc_visard is connected.

• 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.

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