Rough Distance Solver

1. Overview

This add-on for SimpleObject is calculates distance to object if its real sizes is known. This only works if detected object has no strong prespectictive, like spheres, cubes and cylinders. Distance is calculated used PnP transform.

2. XML Description

2.1. Parameters

Tag Addon with parameters:

• Type (string, must be RoughDist) Type of add-on.
• realHeight (double, default: 0) Real height of object in meters.
• realWidth (double, default: 0) Real height of object in meters. Only one of real size param is used for calculation. Those which has not zero value. If both not zero, height is used.

2.2. Example

<Addon Type="RoughDist" realHeight="0.22"/>

3. Example

TODO Film an video with yarp5 robot