Users Manual

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"distance": "float64",
"normal": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"plane
_
estimation
_
method": "string",
"pose
_
frame": "string",
"region
_
of
_
interest
_
2d
_
id": "string",
"robot
_
pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
}
}
This service returns the following response:
{
"plane": {
"distance": "float64",
"normal": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"pose
_
frame": "string"
},
"return
_
code": {
"message": "string",
"value": "int16"
},
"timestamp": {
"nsec": "int32",
"sec": "int32"
}
}
Required arguments:
plane
_
estimation
_
method: method to use for base-plane calibration. Valid values are
STEREO, APRILTAG, MANUAL.
pose
_
frame: see Hand-eye calibration.
Potentially required arguments:
plane if plane
_
estimation
_
method is MANUAL: plane that will be set as base-plane calibration.
robot
_
pose: see Hand-eye calibration.
Optional arguments:
offset: offset in meters by which the estimated plane will be shifted towards the camera.
get
_
base
_
plane
_
calibration Returns the configured base-plane calibration.
7.5. SilhouetteMatch 111