.. _Camera Perception Plausibility:

Running Plausibility
====================

To run the plausibility, you can use the following launch command in your terminal:

.. code-block:: bash

    roslaunch camera_perception plausibility.launch

Available Arguments
-------------------

You can set the following arguments:

- ``send_debug_informations`` (yes/no):
    - Description: If set to yes the node will output debug informations to ``/rosout``.
    - Default: yes

- ``generate_detection_image`` (yes/no):
    - Description: Generates an annotated image and publishes it to ``/perception/detection_image``.
    - Default: yes

- ``record_rosbag`` (yes/no):
    - Description: Records a rosbag with the topics ``/perception/detection_image``, ``/perception/bounding_boxes``, and ``/perception/old_bounding_boxes``.
    - Default: no

- ``display_image`` (yes/no):
    - Description: Display the annotated image locally. You may need to configure your ``DISPLAY`` environment variable for this to work properly.
    - Default: no

- ``use_zed`` (yes/no):
    - Description: Use the ZED camera instead of the images from the supplied rosbag.
    - Default: no

- ``input_rosbag`` (String):
    - Description: Path to the rosbag to use.
    - Default: None

Note that the default values will be used if you do not specify the arguments.

Detection image
--------------------------

.. figure:: ../../img/detection_image.png
   :width: 600px
   :alt: alternate text
   :align: center

   Legend:
   - **Red Cross**: Highest point of mask
   - **Green Cross**: Middle of bounding box
   - **Orange Cross**: Highest point of mask and middle of bounding box are overlapping
   - **Green Bounding Box**: Object did not qualify for mask processing (min. bounding box height)
   - **Other Colors**: Object qualified for mask processing