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strands-project / strands_tabletop_perception

Perception for tabletops
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[table detection] point cloud frame #28

Closed kunzel closed 10 years ago

kunzel commented 10 years ago

@nilsbore, in the instructions of the table detection you state that the point cloud should be in the map frame. How do you transform the point cloud data into the /map frame? Do you have a script for this? Or do you use a pass through filter?

[..] The table detection is launched by:

roslaunch table_detection detection.launch cloud:=/pointcloud2/topic,

where /pointcloud2/topic is a point cloud in the frame of reference of a global map. [..]

thanks

nilsbore commented 10 years ago

I'm using Rares' metarooms which are already in the correct frame so no, I don't have a script for this. You'll be able to use that directly once he has added the downsampling to the new code.

nilsbore commented 10 years ago

Closing this since it's using the metric map stuff.