Thanks for the answer Dejan. I had already seen the tutorial about object segmentation and I was now trying to register the objects with the ones in the database. <br><br>Do you mean that with the nodelets the memory problem will not happen? I will wait for it then :)<br>
<br>Regards<br><br><div class="gmail_quote">On Fri, Sep 3, 2010 at 12:12 PM, Dejan Pangercic <span dir="ltr"><<a href="mailto:dejan.pangercic@gmail.com">dejan.pangercic@gmail.com</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
Hi Jordi,<br>
<br>
if you only want to detect clusters on the table (and not register<br>
them with the ones in e.g. database) you may use the following<br>
tutorial:<br>
<a href="http://www.ros.org/wiki/pcl/Tutorials/Cylinder%20model%20segmentation" target="_blank">http://www.ros.org/wiki/pcl/Tutorials/Cylinder%20model%20segmentation</a><br>
<br>
I'll also have the launch file with nodelets ready for it today and<br>
can send it to you later on.<br>
<br>
cheers, d.<br>
<div><div></div><div class="h5"><br>
On Fri, Sep 3, 2010 at 11:40 AM, Jordi Pages<br>
<<a href="mailto:jordi.pages@pal-robotics.com">jordi.pages@pal-robotics.com</a>> wrote:<br>
> Hi,<br>
><br>
> I am trying to use tabletop_node in order to detect 3D objects on a table<br>
> from a point cloud. First of all I perform the following launch in order to<br>
> connect to the Willow Garage's database:<br>
><br>
> roslaunch household_objects_database objects_database_remote_client.launch<br>
><br>
> Then, I use the following launch script in order to start the tabletop<br>
> detector service:<br>
><br>
> <launch><br>
><br>
> <node pkg="tabletop_object_detector" name="tabletop_node"<br>
> type="tabletop_node" respawn="false" output="screen"><br>
><br>
> <!-- operational parameters --><br>
> <param name="perform_fit_merge" value="true" /><br>
> <param name="fit_merge_threshold" value="0.05" /><br>
><br>
> <!-- database parameters --><br>
> <param name="use_database" type="bool" value="true" /><br>
><br>
> <!-- which debug markers will be published--><br>
> <param name="publish_table_marker" value="true" /><br>
> <param name="publish_cluster_markers" value="true" /><br>
> <param name="publish_good_fit_markers" value="true" /><br>
> <param name="publish_bad_fit_markers" value="false" /><br>
><br>
> <!--topic remapping--><br>
> <remap from="get_model_mesh_srv"<br>
> to="/objects_database_node/get_model_mesh" /><br>
> <remap from="get_model_list_srv"<br>
> to="/objects_database_node/get_model_list" /><br>
> <remap from="cloud_new_in" to="tabletop_pointCloud2" /><br>
> <remap from="object_detection_srv" to="object_detection" /><br>
> <remap from="markers_out" to="tabletop_detector_markers" /><br>
><br>
> <!-- processing and filtering frame --><br>
> <!-- remove this entire block and processing and filtering will --><br>
> <!-- be done with default settings, in the incoming cloud frame --><br>
> <param name="processing_frame" value="camera" /><br>
> <param name="up_direction" value="1.0" /><br>
> <param name="z_filter_min" value="0.2" /><br>
> <param name="z_filter_max" value="1.0" /><br>
><br>
> <!-- Consider only objects in a given layer above the table --><br>
> <param name="table_z_filter_min" value="-0.01" /><br>
> <param name="table_z_filter_max" value="0.3" /><br>
> </node><br>
><br>
> </launch><br>
><br>
> Then it seems that the whole object models in the remote database are loaded<br>
> in memory until I get the following error:<br>
><br>
> ...<br>
> [ INFO] [1283502049.420937925]: Loaded database model with id 18726<br>
> [ INFO] [1283502050.616779449]: Loaded database model with id 18729<br>
> [ INFO] [1283502053.401691637]: Loaded database model with id 18737<br>
> terminate called after throwing an instance of 'std::bad_alloc'<br>
> what(): std::bad_alloc<br>
> [tabletop_node-1] process has died [pid 10502, exit code -6].<br>
> log files:<br>
> /home/jordi/.ros/log/c5f05230-b733-11df-9bb8-e0cb4e1f7c63/tabletop_node-1*.log<br>
> all processes on machine have died, roslaunch will exit<br>
> shutting down processing monitor...<br>
> ... shutting down processing monitor complete<br>
> done<br>
><br>
> Is it correct that when setting use_database=true in the launch file, the<br>
> tabletop_node tries to load all models in memory?<br>
><br>
> If I set the following parameter in the launch file:<br>
><br>
> <param name="model_set" type="string" value="REDUCED_MODEL_SET" /><br>
><br>
> just a smaller set of models are loaded and the node does not crash. Then I<br>
> publish the point cloud from the file<br>
> pcl_tutorials/data/table_scene_mug_stereo_textured.pcd and I send a request<br>
> to the tabletop service to detect objects in this cloud. I can see in rviz<br>
> that the table is correctly detected but the mug is not. Does anybody know<br>
> if this mug should be detected? Perhaps the mug model is not included in the<br>
> REDUCED_MODEL_SET?<br>
><br>
> Regards<br>
><br>
><br>
> --<br>
> Jordi Pages, PhD<br>
> Researcher<br>
> Pal Robotics S.L.<br>
><br>
> Tel: +34.93.414.53.47<br>
> Fax: +34.93.209.11.09<br>
> C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br>
> <a href="http://www.pal-robotics.com/" target="_blank">http://www.pal-robotics.com/</a><br>
><br>
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<br>
<br>
<br>
--<br>
MSc. Dejan Pangercic<br>
PhD Student/Researcher<br>
Intelligent Autonomous Systems Group<br>
Technische Universität München<br>
Telephone: +49 (89) 289-26908<br>
E-Mail: <a href="mailto:dejan.pangercic@cs.tum.edu">dejan.pangercic@cs.tum.edu</a><br>
WWW: <a href="http://ias.cs.tum.edu/people/pangercic" target="_blank">http://ias.cs.tum.edu/people/pangercic</a><br>
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</blockquote></div><br><br clear="all"><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br><a href="http://www.pal-robotics.com/">http://www.pal-robotics.com/</a><br>
<br>AVISO DE CONFIDENCIALIDAD: Este mensaje y sus documentos adjuntos, pueden contener información privilegiada y/o confidencial que está dirigida exclusivamente a su destinatario.<br>Si usted recibe este mensaje y no es el destinatario indicado, o el empleado encargado de su entrega a dicha persona, por favor, notifíquelo inmediatamente y remita el mensaje original a la dirección<br>
de correo electrónico indicada. Cualquier copia, uso o distribución no autorizados de esta comunicación queda estrictamente prohibida.<br><br>CONFIDENTIALITY NOTICE: This e-mail and the accompanying document(s) may contain confidential information which is privileged and intended only for the individual or entity to whom they are addressed. If you are not the intended recipient, you are hereby notified that any disclosure, copying, distribution or use of this e-mail and/or accompanying document(s) is strictly prohibited. If you have received this e-mail in error, please immediately notify the sender at the above e-mail address.<br>
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