ImageRangeRelation - Extended-Object-Detection-ROS/wiki_english GitHub Wiki
ImageRange
The ratio allows you to set the distance in the image between the centers of objects. The attitude can work in three modes.
- The first mode, when the distance between objects is set directly in pixels. Two objects satisfy the relationship when the distance between them is less than pxDistHigh and greater than pxDistLow.
- The second option, when the distance is set in relation to the diagonal of the image. The relation is fulfilled if the distance between objects is greater than the diagonal of the image multiplied by distDiagIm * (1 - probDiagIm) and less than the diagonal of the image multiplied by distDiagIm * (1 + probDiagIm).
- The last option sets the distance relative to the diagonal of the bounding rectangle of the first object. The relationship is satisfied if the distance between objects is greater than the diagonal of the first object multiplied by distDiagObj * (1 - probDiagObj) and less than the diagonal of the first object multiplied by distDiagObj * (1 + probDiagObj). To specify a type, you need to specify only those parameters that correspond to this type.
1. XML-desciption
1.1. Common parameters
- Name (string, must be set) unique relationship name
- Type (string, must be ImageRange) relationship type
1.2. Special parameters
- pxDistHigh (int, must be specified for the first mode) Minimum distance threshold in pixels.
- pxDistLow (int, must be specified for the first mode) Maximum distance threshold in pixels.
- distDiagIm (double, must be specified for the second mode) Distance in the dimensions of the diagonal of the image. Obviously, only values smaller than 1 make sense for detection.
- probDiagIm (double, must be specified for the second mode) Tolerance for the second mode, see description above.
- distDiagObj (double, must be specified for the third mode) The distance in the dimensions of the diagonal of the first object.
- probDiagObj (double, must be specified for the third mode) Tolerance for the third mode, see description above.
1.3. Example