rapidsense.json configuration file is required to be defined for RapidSense to work successfully. This file defines important RapidSense parameters such as the ID, location, and size of volumes to monitor in the scene. In future RapidSense release, this will be configurable through a GUI.
Volumes
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The below describes the configuration method for RapidSense beta release. |
Launch RapidSense
To launch RapidSense, first, type rapidsense at the terminal to start the core application. Second, type rtr_rapidsense_proxy to start the proxy application. Third, run the calibration service script calibration_service.py in a new terminal.
To launch RapidSense with Generic Vision Interface, first, type rapidsense -g at the terminal to start the core application. Second, type rtr_rapidsense_proxy to start the proxy application. Since the vision system connected to the Generic Vision Interface should be already calibrated, a user can start streaming the point cloud data using the ScanScene API command.
Volumes
The main configuration item related to RapidSense usage is the volume. A volume is a 3 dimensional region of interest within which dynamic obstacles are tracked and/or additional functionalities (called filters) are performed, as configured by the user. Users create, update, read, and delete volumes via the Control Panel.
Filters
Filters are operations users can add to a volume of interest to perform specific tasks. The following filters are supported:
Height check - return the maximum height of a surface area within the volume
Change detection(under developement) - identify deviations between a user provided expected template and what is sensed in the volume
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