Hi Matei, I do not know what the problem is either. Actually it is working fine in another computer with similar settings. I can not see the point cloud in rviz, as it crashes (my computed is stuck) when running the manipulation pipeline, so I only have gazebo for visualization. About the sensor, I do not think it is too close to the table. Actually I point the head of the PR2 to the table. Then during the process, the head is moved up and down, so I make sure that the table is detected. It looks to me that changing (reducing) the inlier_thresold rosparam is not the best solution, but I cannot think of anything else now... In the end, it will probably be a silly thing, but I can not find it out now... Best regards, Rafa 2011/3/23 Matei Ciocarlie > Hi Rafa, > > Not sure what could be the problem... The error message means that the > dominant plane that is detected does not have enough points to be > trustworthy. Are you visualizing the point cloud in rviz and it looks > fine? Maybe the sensor is too close to the table? > > That threshold is in the tabletop_object_perception package, in the > src/tabletop_niode.cpp. You can change it from the launch file, i.e. > set the "inlier_threshold" rosparam for that node to want you want it > to be. However, if you're getting just 142 points, something else is > probably wrong... > > Matei > > On Wed, Mar 23, 2011 at 8:18 AM, Rafa wrote: > > Hi all, > > > > I am getting an error when calling the tabletop detection for a pick and > > place application. At some part of the execution, after receiving and > > processing the point cloud it happens that > > ..."Plane detection has 142 inliers, below min threshold of 300" ... > > for the three scheduled times, and always without reaching the threshold > > of 300. > > Any hint? > > Where is that threshold defined? > > > > It is more than curious that the same script is currently working fine > > in other computer which apparently has the same settings.... > > > > Best regards, > > > > Rafa > > > > > > > > -- > > ------------------------------------------------ > > Rafa López Tarazón > > Director I+D+i / R&D Manager > > ------------------------------------------------- > > Robotnik Automation, SLL > > C/Berni y Catala, 53 bajo > > 46019 - VALENCIA - SPAIN > > ------------------------------------------------- > > Tel: +34 963383835 > > Fax: +34 963383580 > > E-mail: rlopez@robotnik.es > > Internet: http://www.robotnik.es > > ------------------------------------------------- > > > > ******************** ADVERTENCIA LEGAL ******************** > > > > La Información incluida en este email es CONFIDENCIAL, siendo para uso > exclusivo del destinatario arriba mencionado. 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