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 functionality usage is definition of the volumes in space for the RapidSense functionalities to monitor. The volumes can then be specified when utilizing different RapidSense features or functions.

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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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Sample Volume Configuration

Insert excerptRapidSense ArchitectureRapidSense Architecturenamerapidsense.json_Volumesnopaneltruethe 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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