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

[Ugo Cupcic]

Hm I solved the problem by replacing the processing_frame parameter:

If I use this instead of "fixed":
<param name="processing_frame" value="openni_camera" />

then it works properly.


On Mon, 2011-01-10 at 10:39 +0000, Ugo Cupcic wrote: 
> 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