rail_segmentation

Segmentation Functionality from the RAIL Lab

For full documentation, see the ROS wiki.

License

rail_segmentation is released with a BSD license. For full terms and conditions, see the LICENSE file.

Authors

See the AUTHORS.md file for a full list of contributors.

Changelog for package rail_segmentation

0.1.15 (2019-06-28)

• Minor update to fix an incorrect declaration of a static const variable under certain compilers
• Contributors: David Kent

0.1.14 (2019-06-27)

• Added new service which takes in a point cloud to segment
• Contributors: David Kent, Weiyu Liu

0.1.13 (2019-06-07)

• Safer wait for point cloud that checks timestamps
• Switched continuous point cloud polling for waitForMessage
• Added an option to publish marker labels for each cluster for debugging
• Added a flag to the segmentation zone config to require a table; if this is set to true, segmentation will only be performed if a surface was successfully detected in the current segmentation zone.
• New service for re-calculating (or filling in uncalculated) features of segmented objects, assuming that at minimum the point cloud field is set
• Exposed cluster tolerance as a parameter
• Optional parameter for cropping the workspace before table detection (defaults to false so it won't change behavior for anything currently using rail_segmentation), which potentially speeds up segmentation but may cause table detection to fail more often when segmenting in small, cluttered segmentation zones
• Contributors: David Kent

0.1.12 (2018-10-12)

• Replacing deprecated pcl call to upgrade ROS versions
• Contributors: David Kent

0.1.11 (2018-09-21)

• Segmenter.h: Fix compilation error with -std=c++11. This commit fixes compilation errors due to compilation with std=c++11, such as: include/rail_segmentation/Segmenter.h:82:23: error: ‘constexpr’ needed for in-class initialization of static data member ‘const double rail::segmentation::Segmenter::SAC_EPS_ANGLE’ of non-integral type [-fpermissive] static const double SAC_EPS_ANGLE = 0.15; \^~~~~~~~~~~~~ Signed-off-by: Elvis Dowson <<elvis.dowson@gmail.com>>
• Fixing a small bug so that the segment_objects service matches the topic data
• Better bounding box calculation, added average rgb and cielab color to segmented object messages as they are calculated anyway, and added an alternative service api, segment_objects, that returns the segmented object list in the service response (while still broadcasting the segmented object list on the topic)
• Constant definition fix for functions with reference parameters
• Added option for euclidean + RGB clustering instead of solely euclidean distance
• Contributors: David Kent, Elvis Dowson, Levon Avagyan, Russell Toris, Siddhartha Banerjee

0.1.10 (2016-09-17)

• Merge pull request #4 from velveteenrobot/publish-table Now publishes table as SegmentedObject and table marker as Marker
• Now publishes table as SegmentedObject and table marker as Marker
• New travis for indigo and jade
• email update
• Contributors: Russell Toris, Sarah Elliott

0.1.9 (2016-02-23)

• Update .travis.yml
• Update README.md
• Update package.xml
• Added a node that continuously calls the segmentation service
• Contributors: David Kent

0.1.8 (2015-05-14)

• allows for params of min/max cluster size
• Contributors: Russell Toris

0.1.7 (2015-05-07)

• removed hard coded constants
• angle fix
• Approximated segmented object orientation with PCA
• Contributors: David Kent, Russell Toris

0.1.6 (2015-04-22)

• cleared flag added
• Contributors: Russell Toris

0.1.5 (2015-04-15)

• Added center point calculation for segmented objects
• Contributors: David Kent

0.1.4 (2015-04-14)

• quick travis fix
• old parser format
• Update .travis.yml
• Contributors: Russell Toris

0.1.3 (2015-04-10)

• bounding box info added
• Contributors: Russell Toris

0.1.2 (2015-04-03)

• cmake cleanup
• header cleanup
• header cleanup
• header cleanup
• checks for incoming point cloud first
• new lines added
• new lines added
• more const ptrs
• moved to ptr based storage
• const ptrs
• Contributors: Russell Toris

0.1.1 (2015-03-31)

• segmentation debug is now latched
• Merge branch 'develop' of github.com:WPI-RAIL/rail_segmentation into develop
• redid zones for default
• Fixed centroid calculation when the segmentation frame doesn't match the bounding box frame
• Contributors: David Kent, Russell Toris

0.1.0 (2015-03-24)

• added RGB image to message
• average RGB on marker
• uses indices instead of new PCs
• Merge pull request #1 from WPI-RAIL/refactor Refactor
• merge conflicts
• Revert "plane detection refactored" This reverts commit 7160b0b12e55755451ec5c8a9318e05552924cc6.
• doc added
• cleanup of old files
• first pass of new segmentation node
• plane detection refactored
• Added a recognize all action which gives feedback throughout the recognition process; the recognize all server remains for compatibility, but it's recommended to use the action server instead.
• Edited .travis.yml
• Merge branch 'develop' of github.com:WPI-RAIL/rail_segmentation into develop
• Updated to reflect moving some messages from rail_segmentation to rail_manipulation_messages
• Contributors: David Kent, Russell Toris

0.0.5 (2015-02-17)

• Fixed a possible exception thrown due to transforming a point cloud at an invalid time
• Merge branch 'develop' of github.com:WPI-RAIL/rail_segmentation into develop
• Added an automatic segmentation service which will determine how best to segment based on camera angle
• Contributors: David Kent

0.0.4 (2015-02-06)

• Update .travis.yml
• visualized object list initialization
• Contributors: David Kent, Russell Toris

0.0.3 (2014-10-22)

• Incorporated calls to object recognition
• Contributors: David Kent

0.0.2 (2014-10-03)

• added object clearing service and clearing on segmentation of zero objects
• Updated segmentation with an option for on-robot segmentation, added documentation
• Updated segmentation service to allow segmentation in either the map frame or the robot frame, also added optional object clearing on segmentation call
• merge
• updates for pick and place
• Contributors: dekent

0.0.1 (2014-09-22)

• bad source file fixed
• pcl_ros build
• pcl_ros build
• travis tests
• travis now runs updates
• indigo ros_pcl added
• cleanup for release
• segmentation tuning and updates
• stopped segmentation from identifying non-horizontal planes
• initial commit
• Contributors: Russell Toris, dekent