Only released in EOL distros:
cob_environment_perception: cob_3d_mapping_common | cob_3d_mapping_msgs | cob_3d_mapping_pipeline_fake | cob_3d_mapping_rviz_plugins | cob_3d_mapping_semantics | cob_3d_visualization
Package Summary
Documented
Extraction of semantic data (e.g. table extraction) from 3-D environment maps.
- Author: Georg Arbeiter
- License: LGPL
- Source: git https://github.com/ipa320/cob_environment_perception.git (branch: release_electric)
cob_environment_perception: cob_3d_evaluation_features | cob_3d_features | cob_3d_fov_segmentation | cob_3d_mapping_common | cob_3d_mapping_demonstrator | cob_3d_mapping_filters | cob_3d_mapping_gazebo | cob_3d_mapping_geometry_map | cob_3d_mapping_msgs | cob_3d_mapping_pipeline | cob_3d_mapping_point_map | cob_3d_mapping_semantics | cob_3d_mapping_slam | cob_3d_mapping_tools | cob_3d_meshing | cob_3d_registration | cob_3d_segmentation | cob_3d_transform_nodes | cob_3d_visualization | cob_keyframe_detector | cob_table_object_cluster | libgpc | openmesh | polypartition
Package Summary
Documented
Extraction of semantic data (e.g. table extraction) from 3-D environment maps.
- Maintainer: Georg Arbeiter <goa AT ipa.fhg DOT de>
- Author: Georg Arbeiter
- License: LGPL
- Source: git https://github.com/ipa320/cob_environment_perception.git (branch: hydro_dev)
This package can extract semantic information from a geometric map.
ROS API
semantic_extraction_node
The semantic_extraction_node gets the geometric map via service call from cob_3d_mapping_geometry_map and performs a tabletop extraction. The tables found are published as cob_3d_mapping_msgs/ShapeArray and as visualization_msgs/Marker.Parameters
~tilt_angle (double, default: 3.0)- The maximum angle deviation allowed for the table plane (in degrees)
- The minimum height for the table plane
- The maximum height for the table plane
- The minimum area for the table plane
- The maximum area for the table plane
Usage/Examples
Start the mapping pipeline in cob_3d_mapping_pipeline
roslaunch cob_3d_mapping_pipeline mapping.launch
Perform a 360° scan of the room
rosrun cob_3d_mapping_pipeline test_360_scan.py
Check the consistency of the point map and the geometric map in rviz.
Start the semantic extraction of tables
roslaunch cob_3d_mapping_semantics extract_tables.launch
Trigger the table detection by running
roslaunch cob_3d_mapping_semantics get_tables_client.launch
Start moving to a table
roslaunch cob_3d_mapping_semantics move_to_table.launch