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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: camera_rgb_optical_frame
#rgb_image_topic: camera_rgb_image_rect_color
#rgb_camera_info: camera_rgb_camera_info
#depth_image_topic: camera_depth_registered_image_rect
#depth_camera_info: 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
# or again for the camera:
rgb_frame_id: camera_rgb_optical_frame
rgb_image_topic: /camera/rgb/image_rect_color
rgb_camera_info: /camera/rgb/camera_info
depth_image_topic: /camera/depth_registered/image_raw
depth_camera_info: /camera/depth_registered/camera_info
sink1:
type: TablePublisher
module: 'object_recognition_tabletop'
inputs: [source1]
sink2:
type: Publisher
module: 'object_recognition_ros.io'
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
pipeline2:
type: TabletopObjectDetector
module: 'object_recognition_tabletop'
inputs: [source1, pipeline1]
outputs: [sink2]
parameters:
object_ids: 'all'
tabletop_object_ids: 'REDUCED_MODEL_SET'
db:
# type: 'ObjectDbSqlHousehold'
# host: 'wgs36'
# port: 5432
# user: 'willow'
# password: 'willow'
# name: 'household_objects'
# module: 'object_recognition_tabletop'
type: CouchDB
root: http://localhost:5984
collection: object_recognition