[ros-users] tabletop_objects package deprecated ?

Radu Bogdan Rusu rusu at willowgarage.com
Thu Jul 1 15:48:49 UTC 2010


If you're searching for blob clustering of points that are supported by planar structures, then you can try PCL. There's 
a few launch files under pcl/launch/demos that you can check, or the tutorials under pcl/src/examples.

The tabletop_objects is being refactored right now, so if you can't svn co the older source tree, then you need to wait 
until my colleagues have it ready. The package is a wrapper around PCL's segmentation and clustering mechanisms, with a 
final model registration check against the clustered blobs. This is not object identification per se, but for a small 
set of objects it might give you good hints as to what's present in the scene. PCL has a few registration methods that 
could be used to improve this part, and I need to get around to write a few more tutorials on that. If you need this 
faster, perhaps you could help out too :)

If you're interested in object detection/recognition, then there's several other algorithms and packages that we are 
working on, both on camera and 3D data, but none of them is ready for mass consumption yet. Soon though :)


On 07/01/2010 01:47 AM, René Ladan wrote:
> Hi,
> the tabletop_objects package isn't available anymore with 'roslocate svn',
> but the wiki page is still alive at http://www.ros.org/wiki/tabletop_objects
>  From that page, the functionality looks really useful for a project at work.
> Is there a pointer available to the package? If it are just build problems due
> to changing APIs, I could give it a try. I've already installed the postgresql
> database as described at http://www.ros.org/wiki/icra_manipulation_demo
> On the other hand, how useful would the billiard_object_detector package
> be for general object detection?
> Regards,
> Rene
> 2010/4/19 Radu Bogdan Rusu<rusu at willowgarage.com>:
>> I'm not sure what the tabletop_objects package was supposed to do, but I bet it was in an unmaintained broken state if
>> it got removed.
>> Can you please tell us what sort of functionality are you searching for? Tabletop_object_detector is not ready yet for
>> mass consumption, and I am not sure if it does what you want, as it depends on a few unreleased packages, and an SQL
>> database backend.
>> Cheers,
>> Radu.
>> Sai Prashanth wrote:
>>> Hi,
>>> I find that the tabletop_objects package is not available in the SVN
>>> repository. Is this package deprecated, and/or has it been replaced that
>>> something else ? I also see that the object pickup pipeline tutorial
>>> uses the tabletop_object_detector, but this does not have as clear a
>>> documentation as tabletop_objects.
>>> Thanks,
>>> Sai
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>> --
>> | Radu Bogdan Rusu | http://rbrusu.com/
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| Radu Bogdan Rusu | http://rbrusu.com/

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