[ros-users] tabletop detection error

Matei Ciocarlie matei at willowgarage.com
Wed Mar 23 19:50:20 UTC 2011


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 <rlopez at robotnik.es> 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
>
>
>
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Matei Ciocarlie
Research Scientist
Willow Garage Inc.
650-475-9780



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