sdbackground

Package using Sigma Delta Background Substraction algorithm : Paper

Autor : Antoine Manzanera mail

Status :

Kinetic : Melodic :

On Github :

Two jobs building the 2 docker images based on corresponding dockerfiles

How to compile :

Simple compilation of the node (not installed in /opt/ros)

catkin_make

Compile and run unit tests (gtest dependency)

catkin_make run_tests

Call the linter for coding style compliance, can fail as a test to block job

catkin_make roslint_sdbackground

Get the coverage based on unit tests and generate a html report (dependency with package code_coverage and lcov (system) )

catkin_make -DENABLE_COVERAGE_TESTING=ON -DCMAKE_BUILD_TYPE=Debug sdbackground_coverage_report

Consult package.xml for ros dependencies

Node

sdbackground_node.cpp The sdbackground_node provides a sdbackground node.

Subscribed topic

in_image Inputs the image topic to treate

Published topic

out_image Outputs the image topic result

Parameters

amplification_factor

• type = int
• default = 1`
• Amplication factor for the algorithm

selected_matrix

• type = int
• default = 4
• Chosen intermediate matrix for teaching purpose (1: current SD-background, 2: absolute difference, 3: current SD-variance, 4: current Foreground)

rate

• type = int
• default = 10
• Frequency treatment rate (Hz)