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add sample_realsense_tabletop_object_detector.launch
tabletop_object_detector for realsense sample
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‎jsk_pcl_ros/sample/rviz/realsense_tabletop_object_detector.rviz

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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 728
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloud2
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic: /outlier_removal/output
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: jsk_rviz_plugin/BoundingBoxArray
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Enabled: true
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Name: BoundingBoxArray
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Topic: /segmentation_decomposer/boxes
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Unreliable: false
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Value: true
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alpha: 0.800000011920929
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color: 239; 41; 41
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coloring: Label
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line width: 0.004999999888241291
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only edge: true
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show coords: true
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- Alpha: 1
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Class: jsk_rviz_plugin/PolygonArray
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Color: 25; 255; 0
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Enabled: true
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Name: PolygonArray
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Topic: /polygon_magnifier/output
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Unreliable: false
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Value: true
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coloring: Auto
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enable lighting: true
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normal length: 0.10000000149011612
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only border: true
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show normal: true
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Enabled: true
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Global Options:
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Background Color: 255; 255; 255
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Default Light: true
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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.026046633720398
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0.5050702095031738
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Y: -0.11513220518827438
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Z: 0.2703014314174652
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 1.2647966146469116
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 3.2835805416107178
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1025
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1853
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X: 67
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Y: 27

‎jsk_pcl_ros/sample/sample_realsense_tabletop_object_detector.launch

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<launch>
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<arg name="gui" default="true" />
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<arg name="camera_ns" default="camera" />
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<arg name="manager" default="realsense_nodelet_manager" />
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<arg name="launch_manager" default="true" />
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<include file="$(find jsk_pcl_ros)/sample/include/play_rosbag_baxter_realsense_l515.xml">
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<arg name="launch_manager" value="$(arg launch_manager)" />
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<arg name="manager" value="$(arg manager)" />
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</include>
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<include file="$(find jsk_pcl_ros)/sample/tabletop_object_detector.launch">
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<arg name="input" value="/$(arg camera_ns)/depth_registered/points" />
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<arg name="manager" value="$(arg manager)" />
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<arg name="sensor_frame" value="/$(arg camera_ns)_color_optical_frame" />
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<arg name="launch_manager" value="false" />
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<arg name="launch_tracking" default="false" />
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<arg name="launch_openni" default="false" />
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<arg name="launch_rviz" default="false" />
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<arg name="resize" value="true" />
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<arg name="resize_step" value="2" />
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<arg name="outlier_removal" value="true" />
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<arg name="approximate_sync" value="true" />
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<arg name="plane_min_size" value="10000" />
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<arg name="object_min_height" value="0.01" />
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<arg name="object_max_height" value="1000.0" />
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<arg name="align_boxes" value="true" />
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<arg name="align_boxes_with_plane" value="false" />
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<arg name="target_frame_id" value="base" />
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<arg name="use_pca" value="true" />
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<arg name="sort_by" value="cloud_size" />
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</include>
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<node name="$(anon rviz)" pkg="rviz" type="rviz" if="$(arg gui)"
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args="-d $(find jsk_pcl_ros)/sample/rviz/realsense_tabletop_object_detector.rviz" />
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</launch>

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