[ros-users] tabletop_object_detector, table and object not segmented

[Ugo Cupcic]

Hi,

I'm having problems using the tabletop_object_detector node. 

As you can see on those screenshots, though the table plan is found
correctly, the segmented point cloud includes the table and the object. 

http://img5.imagebanana.com/img/xx8ltmur/Selection_001.png
http://img5.imagebanana.com/img/ji89gls7/Selection_002.png

I'm not sure what I did wrong. In the log below, I see those warnings:
[ INFO] [1294654799.697276843]: cannot extend bbox to table, they are
not in the same frame
[ WARN] [1294654799.697396094]: Failed to extend bbox to table; using
original dimensions

My only clue is that lots of code in tabletop_object_detector and the
depending packages seems to have "base_link" hard coded as the reference
link. I'm using "fixed", so I'm publishing a fixed transform between
fixed and base_link. (I tried to use: <remap from="base_link"
to="fixed" /> in my nodes but I get the error: [ERROR] [WallTime:
1294655504.963270] tf transform was not there!!). Anyway I don't think
that it's related to my problem, as even with this error, I get the
yellow rectangle for the table + the object segmented point cloud which
contains the table as shown previously.

Sorry if my message is not precise enough, but I'm a bit lost here and
I'm not sure where to start looking. 

Any help greatly appreciated.

Cheers,

Ugo


[ INFO] [1294654796.985860596]: Tabletop detection service called;
waiting for a point_cloud2 on topic /camera/depth/points2
[ INFO] [1294654797.261886506]: Point cloud received; processing
[ INFO] [1294654797.374996037]: Input cloud converted to fixed frame
[ INFO] [1294654797.375096220]: Starting process on new cloud
[ INFO] [1294654797.400421841]: Step 1 done
[ INFO] [1294654797.433487674]: Step 2 done
[ INFO] [1294654797.464712409]: [TableObjectDetector::input_callback]
Model found with 2992 inliers: [0.090311 -0.057030 0.994279 -0.009768].
[ INFO] [1294654797.464846818]: Step 3 done
[ INFO] [1294654797.465131387]: Step 4 done
[ INFO] [1294654797.477030009]: Table computed
[ INFO] [1294654797.508113609]:  Number of object point candidates:
55342.
[ INFO] [1294654798.549648017]: Number of clusters found matching the
given constraints: 1.
cloud_objects frame: fixed
[ INFO] [1294654798.568788369]: Clusters converted
[ INFO] [1294654798.595098187]: Fitting models to clusters
[ INFO] [1294654799.025706263]:   - fit with score 0.046118 for model id
18791 
[ INFO] [1294654799.063682509]: Cloud size: 34522
[INFO] [WallTime: 1294654799.444427] finding the bounding box for a
point cluster
[INFO] [WallTime: 1294654799.613361] waiting for transform: base_link
from fixed
[INFO] [WallTime: 1294654799.617360] got transform
[INFO] [WallTime: 1294654799.645909] chopped points off of dim -0,
lowest val = -0.353, searchval = -0.327
[INFO] [WallTime: 1294654799.668446] chopped points off of dim -1,
lowest val = -0.298, searchval = -0.274
[INFO] [WallTime: 1294654799.690813] chopped points off of dim 2,
highest val = 0.308, searchval = 0.261
[ INFO] [1294654799.697276843]: cannot extend bbox to table, they are
not in the same frame
[ WARN] [1294654799.697396094]: Failed to extend bbox to table; using
original dimensions
[ INFO] [1294654799.697444127]: Adding bounding box with dimensions
0.623375 0.423401 0.260162 to collision map
[ERROR] [1294654829.700053341]: Collision map was not formed in allowed
time
[ERROR] [1294654829.700812477]: Collision map processing error;
exception: collision map: static make was not formed in allowed time

-- 
Ugo Cupcic | Shadow Robot Company | ugo at shadowrobot.com 
Software Engineer | 251 Liverpool Road | 
need a Hand? | London N1 1LX | +44 20 7700 2487 
http://www.shadowrobot.com/hand/ @shadowrobot