TableObjectDetector<PointType> :: TableObjectDetector() : m_max_dist_to_plane(0.03), settings(OPESettings()) { // ---[ Create all PCL objects and set their parameters setObjectVoxelSize(settings.objVoxelSize); setBackgroundVoxelSize(); setDepthLimits(settings.minTgtDepth, settings.maxTgtDepth); setObjectHeightLimits(settings.minObjHeight, settings.maxObjHeight); // Normal estimation parameters k_ = 15; // 50 k-neighbors by default // Table model fitting parameters sac_distance_threshold_ = 0.01; // 1cm // Don't know ? normal_distance_weight_ = 0.1; // Clustering parameters object_cluster_tolerance_ = 0.05; // 5cm between two objects object_cluster_min_size_ = 100; // 100 points per object cluster }
TableObjectDetector<PointType> :: TableObjectDetector() { // ---[ Create all PCL objects and set their parameters setMaxDistToPlane(0.03); setObjectVoxelSize(0.003f); setBackgroundVoxelSize(); setDepthLimits(0.2f, 2.3f); setObjectHeightLimits(0.01f, 0.50f); // Normal estimation parameters k_ = 20; // 50 k-neighbors by default // Table model fitting parameters sac_distance_threshold_ = 0.01; // 1cm // Don't know ? normal_distance_weight_ = 0.1; // Clustering parameters object_cluster_tolerance_ = 0.05; // 5cm between two objects object_cluster_min_size_ = 100; // 100 points per object cluster }