ExractedInfoId - Extended-Object-Detection-ROS/wiki_english GitHub Wiki

ExractedInfoId

A check attribute that allows you to cut objects based on the data of the extracted information from other attributes.

Modes Accuracy assessment 3D-translation 3D-rotation Contour extraction Additional info
C - ❌ ❌ - -

1. Modes

1.1. Detect

Not implemented

1.2. Check

Checks if an identifier in the retrieved information matches the specified values.

1.3. Extract

Not implemented

2. XML-description

2.1. Common parameter

  • Name (string, must be set) Unique attribute name
  • Type (string, must be "ExtractedInfoId") attribute type
  • Weight (double, default: 1) attribute weight
  • Probability (double, default: 0.75) degree of confidence threshold
  • Contour (bool, default: true) not used

2.2. Extra parameters

  • field (string, default: "") filed name for checking
  • allowed (list of ints, default: empty) allowed idenifiers numbers
  • forbidden (list of ints, default: empty) forbidden identifiers numbers

The allowed and forbidden numbers must be separated by spaces, and when separated by the - sign, a segment of numbers will be taken, including the ends. For example, the record 1 2 4-6 8 will be converted to the set of identifiers 1, 2, 4, 5, 6, 8. If there is no field field in the retrieved object information, then the attribute will always return false. If the allowed array is empty, then the attribute will return false. If the same object is present in allowed and forbidden then it will be ignored.

2.3. Example

An example of use together with a attrubute of Aruco. An example is shown below, indicating a specific marker and any of the vocabulary.

<AttributeLib>
    
    <Attribute Name="Aruco4" Type="Aruco" Dict="0" Lenght="0.082"/>
  
    <Attribute Name="Aruco6" Type="Aruco" Dict="8" Lenght="0.125"/>

    <Attribute Name="ID13" Type="ExtractedInfoID" field="Aruco4:marker_id" allowed="13"/>

</AttributeLib>

<SimpleObjectBase>    
    
    <SimpleObject Name="Aruco6" ID="41">              
        <Attribute Type="Detect">Aruco6</Attribute>            
    </SimpleObject>  
   
    <SimpleObject Name="Aruco4-13" ID="40">              
        <Attribute Type="Detect">Aruco4-13</Attribute>   
        <Attribute Type="Check">ID13</Atribute>        
    </SimpleObject>         

</SimpleObjectBase>

aruco example (Image was obtained with previous version of system) As you can see in the image above, only the marker with id 13 was recognized from the 4x4 dictionary.

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