surface_perception package from surface_perception repo


Package Summary

Tags No category tags.
Version 1.0.3
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version indigo-devel
Last Updated 2018-05-11
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Simple library for segmentation of tabletop and shelf surfaces

Additional Links


  • Justin Huang


  • Yu-Tang Peng


Simple library for segmentation of tabletop and shelf surfaces.

Try out the demo

To run the demo, run rosrun surface_perception demo BASE_FRAME cloud_in:=your_cloud_topic in your terminal. BASE_FRAME is the name of a frame whose Z-axis points "up" away from gravity. It not specified, base_link will be used as the BASE_FRAME.

Add a Marker topic to see the segmentation output.


Changelog for package surface_perception

1.0.3 (2018-04-20)

  • Changed pose to be a const ref.
  • Exported axes marker library.
  • Contributors: Justin Huang

1.0.2 (2018-04-18)

  • Removed warning message for surfaces with no objects.
  • Fixed objects intersecting with surface.
  • Fixed bugs with shape extraction.
  • Decouple the usage of margin_above_surface and max_point_distance
  • Fixed bug with standardizing object orientation (#9)
    • Pulled code to standardize object orientations into a separate function
    • Fixed a bug with this function
    • Added tests
    • Added a visualization of the object orientations
  • Updated Doxygen mainpage.
  • Contributors: Justin Huang, Yu-Tang Peng

1.0.1 (2018-03-06)

  • Allowed surfaces with no object on them.
  • Fixed occasional crashes due to convex hull computation.
  • Added optional point cloud frame argument in demo to support target frame other than base_link.
  • Contributors: Justin Huang, Yu-Tang Peng

1.0.0 (2018-02-13)

  • Multi-shelf detection
  • Contributors: Justin Huang, Yu-Tang Peng

0.2.1 (2017-08-28)

  • Make new x-axis the one closer to the data\'s x-axis.
  • Contributors: Justin Huang

0.2.0 (2017-08-28)

  • Changed oriented bounding box fitting algorithm so that the x direction always points towards the shorter side.
  • Contributors: Justin Huang

0.1.3 (2017-07-24)

  • Added mainpage documentation.
  • Contributors: Justin Huang

0.1.2 (2017-07-19)

  • Fixed header files not being installed.
  • Contributors: Justin Huang

0.1.1 (2017-06-07)

  • Added missing dependency.
  • Contributors: Justin Huang

0.1.0 (2017-06-07)

  • Initial implementation of surface_perception.
  • Contributors: Justin Huang

Wiki Tutorials

See ROS Wiki Tutorials for more details.

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