From ros-users-bounces@code.ros.org Wed Mar 23 12:50:23 2011 Return-Path: X-Original-To: www-data@code.ros.org Delivered-To: www-data@code.ros.org Received: from pub5.willowgarage.com (localhost [127.0.0.1]) by pub5.willowgarage.com (Postfix) with ESMTP id 53D892EC68C; Wed, 23 Mar 2011 12:50:23 -0700 (PDT) X-Original-To: ros-users@code.ros.org Delivered-To: ros-users@code.ros.org Received: from mail-iw0-f174.google.com (mail-iw0-f174.google.com [209.85.214.174]) by pub5.willowgarage.com (Postfix) with ESMTPS id 6698925C11F for ; Wed, 23 Mar 2011 12:50:22 -0700 (PDT) Received: by iwn34 with SMTP id 34so11585002iwn.5 for ; Wed, 23 Mar 2011 12:50:21 -0700 (PDT) MIME-Version: 1.0 Received: by 10.231.60.73 with SMTP id o9mr1741383ibh.33.1300909820759; Wed, 23 Mar 2011 12:50:20 -0700 (PDT) Received: by 10.231.39.141 with HTTP; Wed, 23 Mar 2011 12:50:20 -0700 (PDT) In-Reply-To: <4D8A0F3B.9000207@robotnik.es> References: <4D8A0F3B.9000207@robotnik.es> Date: Wed, 23 Mar 2011 12:50:20 -0700 Message-ID: From: Matei Ciocarlie To: User discussions Subject: Re: [ros-users] tabletop detection error X-BeenThere: ros-users@code.ros.org X-Mailman-Version: 2.1.9 Precedence: list Reply-To: User discussions List-Id: User discussions List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , Content-Type: text/plain; charset="windows-1252" Content-Transfer-Encoding: quoted-printable Sender: ros-users-bounces@code.ros.org Errors-To: ros-users-bounces@code.ros.org 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 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 > > > > -- > ------------------------------------------------ > Rafa L=F3pez Taraz=F3n > Director I+D+i / R&D Manager > ------------------------------------------------- > Robotnik Automation, SLL > C/Berni y Catala, 53 bajo > 46019 - VALENCIA - SPAIN > ------------------------------------------------- > Tel: =A0 =A0 =A0 +34 963383835 > Fax: =A0 =A0 =A0+34 963383580 > E-mail: =A0rlopez@robotnik.es > Internet: =A0http://www.robotnik.es > ------------------------------------------------- > > ******************** ADVERTENCIA LEGAL ******************** > > La Informaci=F3n incluida en este email es CONFIDENCIAL, siendo para uso = exclusivo del destinatario arriba mencionado. 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