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
}
