From 1069768bd5b819020fdde3a6d422b182c6ab297d Mon Sep 17 00:00:00 2001
From: corot <jsantossimon@gmail.com>
Date: Mon, 4 May 2015 23:53:36 +0200
Subject: [PATCH] Set properly the parameters for TabletopTableDetector
 (https://github.com/wg-perception/tabletop/issues/23)

---
 .../tabletop/thorp.detection.object.ros.ork   | 23 +++++++++++--------
 1 file changed, 14 insertions(+), 9 deletions(-)

diff --git a/thorp_obj_rec/config/tabletop/thorp.detection.object.ros.ork b/thorp_obj_rec/config/tabletop/thorp.detection.object.ros.ork
index a0dc3765..cf1106f4 100644
--- a/thorp_obj_rec/config/tabletop/thorp.detection.object.ros.ork
+++ b/thorp_obj_rec/config/tabletop/thorp.detection.object.ros.ork
@@ -1,9 +1,10 @@
+#
+# Parameters for the object recognition pipeline 
+#  
+
 source1:
   type: RosKinect
   module: 'object_recognition_ros.io'
-  #
-  # Example parameters to set (the default settings are using the ros topics starting with /camera/....) 
-  #  
   parameters:
     rgb_frame_id:      senz3d_camera_rgb_optical_frame
     rgb_image_topic:   senz3d/rgb/image_color
@@ -36,12 +37,16 @@ pipeline1:
   inputs: [source1]
   outputs: [sink1]
   parameters:
-    table_detector:
-        min_table_size: 4000
-        plane_threshold: 0.01
-    #clusterer:
-    #    table_z_filter_max: 0.35
-    #    table_z_filter_min: 0.025
+    # table detector
+    min_table_size: 5000
+    plane_threshold: 0.01
+    table_cluster_tolerance: 0.01
+    vertical_frame_id: '/map'
+    # clusterer
+    z_crop: 0.25  # The amount to keep in the z direction relative to the coordinate frame defined by the pose (def. 0.5)
+    z_min:  0.002 # The amount to crop above the plane, in meters (def. 0.0075)
+    cluster_distance: 0.01  # The maximum distance between a point and the cluster it belongs to (def. 0.02)
+    min_cluster_size: 300   # Min number of points for a cluster (def. 300)
 
 pipeline2:
   type: TabletopObjectDetector