Unterschiede

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--- integration:ros [2022/07/11 09:14] – [Mediapipe specific topics and types] oliver
+++ integration:ros [2022/07/25 09:54] (aktuell) – [Mediapipe specific topics and types] oliver
@@ Zeile 45: / Zeile 45: @@
 ^ rosheader | The timestamp from the ROS-header is used.|
 ^ autoarrive | As an estimation the time at which a frame arrives JDAQ is used. |
-^ autofix | The configured sample rate is used as a basis and it is assumed that no frame is lost in the pipleline. |
+^ autofix | From the configured sample rate delata_T is determined as 1/(sample rate) and this is added to the previous time(stamp) to determine the current one. This procedure assumes that no frame is lost in the pipleline. This method is used as default.|
 ====UR specific topics====
@@ Zeile 124: / Zeile 124: @@
 </code>
-====Mediapipe specific topics and types ====
+====Mediapipe ====
-Hint: The sample rate is set for the "mediapipe_poses" unit group and NOT for unit itself!
+The BLAZE model of media type includes 33 positions. The coordinates of these positions are defined relativ to the pelvis center of the BLAZE model but given in a coordinate system of the camera with x,y-axes in the picture plane of the camera and z upright to this plane. All coordinates are given in the unit [m].
-^ Topic Type ^ Topic 	^ Description ^ Channel name ^ Unit ^ Type ^
+A second set of positions called global positions are determined from the mediapipe raw data as follows: The left corner of the camera defines the origin of a coordinate system. x,y-coordinate given as values between 0 and 1 if the positions are seen from the camera are scales using the hight/width of the camera sensor in pixel.
-^ geometry_msgs.PoseArray | /mediapipe_poses/BLAZE | All positions of the Blazepose model. |   | mm | |
+===Mediapipe specific topics and types ===
+^ Topic Type ^ Topic 	^ Description ^ Unit ^
+^ geometry_msgs.PoseArray | /mediapipe_poses/BLAZE | All positions of the Blazepose model. | mm |
+**
+Example configuration fragment:**
 <code xml>
@@ Zeile 141: / Zeile 145: @@
         <TransducerUnitGroup name="mediapipe_poses" displayName="Mediapipe">
-            <!-- sample rate is ignored because "timestampsMethod" is set to "rosheader"-->
-            <Property name="sampleRate" value="10.0"/>
             <TransducerUnit name="BLAZE" displayName="Blaze" sampleRate="10">