2.1.1.3. Running Plausibility

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

roslaunch camera_perception plausibility.launch

2.1.1.3.1. 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.

2.1.1.3.2. Detection image

Fig. 2.1 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