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source1:
type: RosKinect
module: 'object_recognition_ros.io'
#
# Example parameters to set (the default settings are using the ros topics starting with /camera/....)
#
parameters:
rgb_frame_id: '/head_camera_depth_optical_frame'
rgb_image_topic: '/head_camera/rgb/image_raw'
rgb_camera_info: '/head_camera/rgb/camera_info'
depth_image_topic: '/head_camera/depth_registered/image_raw'
depth_camera_info: '/head_camera/depth_registered/camera_info'
#
#crop_enabled: True
#x_min: -0.4
#x_max: 0.4
#y_min: -1.0
#y_max: 0.2
#z_min: 0.3
#z_max: 1.5
sink1:
type: TablePublisher
module: 'object_recognition_tabletop'
inputs: [source1]
pipeline1:
type: TabletopTableDetector
module: 'object_recognition_tabletop'
inputs: [source1]
outputs: [sink1]
parameters:
table_detector:
min_table_size: 4000
plane_threshold: 0.01
#clusterer:
# table_z_filter_max: 0.35
# table_z_filter_min: 0.025