Users Manual

max
_
number
_
of
_
detected
_
objects (Maximum Object Number) This parameter gives the maximum number
of objects to detect in the scene. If more than the given number of objects can be detected in the scene, only
the objects with the highest matching results are returned.
match
_
max
_
distance (Maximum Matching Distance) This parameter gives the maximum allowed pixel dis-
tance of an image edge pixel from the object edge pixel in the template to be still considered as matching. If
the object is not perfectly represented in the template, it might not be detected when this parameter is low.
High values, however, might lead to false detections in case of a cluttered scene or the presence of similar
objects, and also increase runtime.
match
_
percentile (Matching Percentile) This parameter indicates how strict the matching process should be.
The matching percentile is the ratio of template pixels that must be within the Maximum Matching Distance
to successfully match the template. The higher this number, the more accurate the match must be to be
considered as valid.
edge
_
sensitivity (Edge Sensitivity) This parameter influences how many edges are detected in the camera
images. The higher this number, the more edges are found in the intensity image. That means, for lower
numbers, only the most significant edges are considered for template matching. A large number of edges in
the image might increase the detection time.
7.5.7 Services
The user can explore and call the rc
_
silhouettematch component’s services, e.g. for development and testing,
using Swagger UI (Section 8.2.4) or the rc_visard Web GUI (Section 4.5).
Each service component provides a return
_
code, which consists of a value plus an optional message.
A successful service returns with a return
_
code value of 0. Negative return
_
code values indicate that the
service failed. Positive return
_
code values indicate that the service succeeded with additional information.
Table 7.5.3: Return codes of the SilhouetteMatch component services
Code Description
0 Success
-1 An invalid argument was provided
-3 An internal timeout occurred, e.g. during object detection
-4 Data acquisition took longer than the maximum allowed time of 3.0 seconds
-7 Data could not be read or written to persistent storage
-100 An internal error occurred
-101 Detection of the base plane failed
-102 The hand-eye calibration changed since the last base-plane calibration
-103 The maximum number of regions of interest has been reached
-104 Offset between the base plane normal and the line of sight of the rc_visard exceeds 10 degrees
101 An existing region of interest was overwritten
102 The provided robot pose was ignored
103 The base plane was not transformed to the current sensor pose, e.g. because no robot pose was
provided during base-plane calibration
The SilhouetteMatch component offers the following services.
calibrate
_
base
_
plane Triggers the calibration of the base plane, see Base-plane calibration. A successful
base-plane calibration is stored persistently on the rc_visard and returned by this service. The base-plane
calibration is persistent over firmware updates and rollbacks.
All images used by the service are guaranteed to be newer than the service trigger time.
This service requires the following arguments:
{
"offset": "float64",
"plane": {
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7.5. SilhouetteMatch 110