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| doc:writing_an_interface_to_your_perception_system [2014/11/27 13:23] – [Subscriber] admin | doc:writing_an_interface_to_your_perception_system [2014/11/27 13:23] – [Subscriber] admin |
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| This predicate from the knowrob_perception package is defined as below. It creates a new object instance for the given object type (''rdf_instance_from_class''), creates an instance describing the perception event using the ''PerceptionTypes'' given as argument, links the object instance to this perception event, and sets the pose at which the object was detected. This convenience predicate assumes that the detected objects are always novel. By calling the different predicates individually, one can also add perception events to existing objects instances if the identity of the object instance is known. | This predicate from the knowrob_perception package is defined as below. It creates a new object instance for the given object type (''rdf_instance_from_class''), creates an instance describing the perception event using the ''PerceptionTypes'' given as argument, links the object instance to this perception event, and sets the pose at which the object was detected. This convenience predicate assumes that the detected objects are always novel. By calling the different predicates individually, one can also add perception events to existing objects instances if the identity of the object instance is known. |
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| <code> | <code prolog> |
| create_object_perception(ObjClass, ObjPose, PerceptionTypes, ObjInst) :- | create_object_perception(ObjClass, ObjPose, PerceptionTypes, ObjInst) :- |
| rdf_instance_from_class(ObjClass, ObjInst), | rdf_instance_from_class(ObjClass, ObjInst), |
