Skip to content
Permalink
Branch: master
Find file Copy path
Find file Copy path
Fetching contributors…
Cannot retrieve contributors at this time
33 lines (24 sloc) 1.33 KB
<?xml version="1.0" ?>
<launch>
<node name="segmentation_node" pkg="segmentation_ros" type="segmentation_ros_node" output="screen" respawn="true">
<param name="voxel_resolution" value="0.002" />
<param name="seed_resolution" value="0.05" />
<param name="color_importance" value="0.1" />
<param name="spatial_importance" value="0.4" />
<param name="normal_importance" value="1.0" />
<!-- <param name="color_importance" value="0.5" />
<param name="spatial_importance" value="0.4" />
<param name="normal_importance" value="20.0" /> -->
<param name="use_single_cam_transform" value="false" />
<param name="use_supervoxel_refinement" value="false" />
<param name="use_random_sampling" value="false" />
<param name="outlier_cost" value="0.002" />
<param name="smooth_cost" value="0.0002" /> <!-- outlier_cost * 0.01 -->
<param name="min_inliers_per_plane" value="50" />
<param name="label_cost" value="0.1" /> <!-- config.min_inliers_per_plane*0.5*config.outlier_cost -->
<param name="max_num_iterations" value="25" />
<param name="max_curvature" value="0.001" />
<param name="gc_scale" value="0.0001" />
<param name="pointcloud_topic" value="/realsense/points_aligned_cropped" />
</node>
</launch>
You can’t perform that action at this time.