How to see output of tabletop_segmentation [closed]

asked 2013-05-22 17:12:03 -0500

Greg S gravatar image

updated 2016-10-24 08:35:03 -0500

ngrennan gravatar image


I am new to ROS, been going through all tutorials for a week now, the goal is to run plane detection part of tabletop_object_detector and see how accurate it is wrt detecting the dominant plane. Quite desperate now, almost a week down - little to show for it, so any help - highly appreciated.

I cant seem to make nodes 'click' together.

My setup: XBOX 360 Kinect, 12.04 Precise, Fuerte

  • Console 1 - roscore
  • Console 2 - roslaunch openni_launch openni.launch
  • Console 3 - roslaunch fast_plane_detection fast_plane_detection_jean.launch
  • Console 4 - rosrun rviz rviz

All according to documentation, I think.

plane detection node keeps on logging:

  • [ INFO] [1369276606.899381123]: Waiting for message on topic /narrow_stereo_textured/left/camera_info
  • [ INFO] [1369276607.311245337]: Waiting for message on topic /narrow_stereo_textured/disparity ....

There are no such topics published, however, after launching openni - rostopic list shows following topics:

  • /camera/depth/camera_info
  • /camera/depth/disparity
  • /camera/depth/image
  • /camera/depth/image/compressed
  • /camera/depth/image/compressed/parameter_descriptions
  • /camera/depth/image/compressed/parameter_updates
  • /camera/depth/image/compressedDepth
  • ... and a bunch of others

So, should I just map /camera/depth/camera_info to /narrow_stereo_textured/left/camera_info and /camera/depth/camera_info to /narrow_stereo_textured /disparity ?

And how do I see the output of fast_plane_detection in rviz?

Thanks a lot, Greg

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-10-26 13:33:04.380253


Just a small remark: IIRC, fast_plane_detection has nothing to do with tabletop_object_detector, so you may be looking in the wrong place. Also, the Kinect outputs RGB and depth, the stereo cam outputs disparity. Not sure if conversion from depth to disparity is trivial, never worked with stereo.

Martin Günther gravatar image Martin Günther  ( 2013-05-23 02:19:43 -0500 )edit

Thanks, I'll re-post the question with tabletop_detector-only question.

Greg S gravatar image Greg S  ( 2013-05-23 11:11:01 -0500 )edit