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Apr 18th, 2012
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  1. <launch>
  2. <include file="$(find openni_launch)/launch/openni.launch"/>
  3. <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
  4.  
  5. <!-- Run a VoxelGrid filter to clean NaNs and downsample the data -->
  6. <node pkg="nodelet" type="nodelet" name="voxel_grid" args="load pcl/VoxelGrid pcl_manager" output="screen">
  7. <remap from="~input" to="/camera/depth_registered/points" />
  8. <rosparam>
  9. filter_field_name: z
  10. filter_limit_min: 0.01
  11. filter_limit_max: 1.5
  12. filter_limit_negative: False
  13. leaf_size: 0.01
  14. </rosparam>
  15. </node>
  16.  
  17. <!-- Estimate point normals -->
  18. <node pkg="nodelet" type="nodelet" name="normal_estimation" args="load pcl/NormalEstimation pcl_manager" output="screen">
  19. <remap from="~input" to="/voxel_grid/output" />
  20. <rosparam>
  21. # -[ Mandatory parameters
  22. k_search: 0
  23. radius_search: 0.015
  24. # Set the spatial locator. Possible values are: 0 (ANN), 1 (FLANN), 2 (organized)
  25. spatial_locator: 0
  26. </rosparam>
  27. </node>
  28.  
  29. <!-- Segment the table plane -->
  30. <node pkg="nodelet" type="nodelet" name="planar_segmentation" args="load pcl/SACSegmentationFromNormals pcl_manager" output="screen">
  31. <remap from="~input" to="/voxel_grid/output" />
  32. <remap from="~normals" to="/normal_estimation/output" />
  33. <rosparam>
  34. # -[ Mandatory parameters
  35. model_type: 11
  36. distance_threshold: 0.1
  37. max_iterations: 1000
  38. method_type: 0
  39. optimize_coefficients: true
  40. normal_distance_weight: 0.1
  41. eps_angle: 0.09
  42. </rosparam>
  43. </node>
  44.  
  45. <node pkg="nodelet" type="nodelet" name="extract_plane_indices" args="load pcl/ExtractIndices pcl_manager" output="screen">
  46. <remap from="~input" to="/voxel_grid/output" />
  47. <remap from="~indices" to="/planar_segmentation/inliers" />
  48. <rosparam>
  49. negative: true
  50. </rosparam>
  51. </node>
  52.  
  53. <!-- Project the planar inliers -->
  54. <node pkg="nodelet" type="nodelet" name="project_plane_inliers" args="load pcl/ProjectInliers pcl_manager" output="screen">
  55. <remap from="~input" to="/voxel_grid/output" />
  56. <remap from="~indices" to="/planar_segmentation/inliers" />
  57. <remap from="~model" to="/planar_segmentation/model" />
  58. <rosparam>
  59. model_type: 11
  60. copy_all_data: false
  61. copy_all_fields: true
  62. </rosparam>
  63. </node>
  64.  
  65. <!-- Compute the convex hull -->
  66. <node pkg="nodelet" type="nodelet" name="convex_hull" args="load pcl/ConvexHull2D pcl_manager" output="screen">
  67. <remap from="~input" to="/project_plane_inliers/output" />
  68. </node>
  69.  
  70. <!-- Extract the object clusters using a polygonal prism -->
  71. <node pkg="nodelet" type="nodelet" name="extract_objects_table" args="load pcl/ExtractPolygonalPrismData pcl_manager" output="screen">
  72. <remap from="~input" to="/extract_plane_indices/output" />
  73. <remap from="~planar_hull" to="/convex_hull/output" />
  74. <rosparam>
  75. height_min: 0
  76. height_max: 0.5
  77. </rosparam>
  78. </node>
  79.  
  80. <node pkg="nodelet" type="nodelet" name="extract_objects_indices" args="load pcl/ExtractIndices pcl_manager" output="screen">
  81. <!-- Extract_plane_indices needs to be negated for this work -->
  82. <remap from="~input" to="/extract_plane_indices/output" />
  83. <remap from="~indices" to="/extract_objects_table/output" />
  84. <rosparam>
  85. negative: false
  86. </rosparam>
  87. </node>
  88.  
  89. <node pkg="nodelet" type="nodelet" name="RobotVision" args="load robot_vision/RobotVision camera_nodelet_manager" output="screen">
  90. <remap from="/RobotVision/input" to="/camera/depth_registered/points"/>
  91. </node>
  92. </launch>
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