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update grab_server

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This commit is contained in:
Robot 2019-10-30 17:50:53 +08:00
parent 77a3c3a045
commit b6ea2504f7
3 changed files with 6 additions and 6 deletions
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4
wpb_home_behaviors/src/wpb_home_grab_server.cpp
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@ -205,11 +205,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
segmentation.setInputCloud(cloud_source_ptr);
segmentation.setModelType(pcl::SACMODEL_PLANE);
segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
segmentation.setMethodType(pcl::SAC_RANSAC);
segmentation.setDistanceThreshold(0.005);
segmentation.setOptimizeCoefficients(true);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
segmentation.setAxis(axis);
segmentation.setEpsAngle( 10.0f * (M_PI/180.0f) );
pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);

4
wpb_home_behaviors/src/wpb_home_objects_3d.cpp
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@ -153,11 +153,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
segmentation.setInputCloud(cloud_source_ptr);
segmentation.setModelType(pcl::SACMODEL_PLANE);
segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
segmentation.setMethodType(pcl::SAC_RANSAC);
segmentation.setDistanceThreshold(0.005);
segmentation.setOptimizeCoefficients(true);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
segmentation.setAxis(axis);
segmentation.setEpsAngle( 10.0f * (M_PI/180.0f) );
pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);

4
wpb_home_tutorials/src/wpb_home_obj_detect.cpp
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@ -147,11 +147,11 @@ void ProcCloudCB(const sensor_msgs::PointCloud2 &input)
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::SACSegmentation<pcl::PointXYZRGB> segmentation;
segmentation.setInputCloud(cloud_source_ptr);
segmentation.setModelType(pcl::SACMODEL_PLANE);
segmentation.setModelType(pcl::SACMODEL_PERPENDICULAR_PLANE);
segmentation.setMethodType(pcl::SAC_RANSAC);
segmentation.setDistanceThreshold(0.005);
segmentation.setOptimizeCoefficients(true);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,1.0,0.0);
Eigen::Vector3f axis = Eigen::Vector3f(0.0,0.0,1.0);
segmentation.setAxis(axis);
segmentation.setEpsAngle( 10.0f * (M_PI/180.0f) );
pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);