debug of OrganizedMultiPlaneSegmentation

gistfile1.txt

1. download PCD from
https://drive.google.com/a/jsk.imi.i.u-tokyo.ac.jp/file/d/0B5qanGnXorOuUkR3ZDVvWDduX1k/view?usp=sharing

2. dowload launch file
wget https://gist.githubusercontent.com/mmurooka/0e66da9a6f830e0b0e30fcc2fc9bf084/raw/9fe668eb41cc3d3a1b305cb9b3816f05394cfdf3/organized_multi_plane_segmentation_debug.launch

3. execute roslaunch
roslaunch organized_multi_plane_segmentation_debug.launch PCD_PATH:=<full path to pcd file>

organized_multi_plane_segmentation_debug.launch

<launch>
  <!-- set full path of pcd file -->
  <arg name="PCD_PATH" default="organized_multi_plane_segmentation_debug.pcd" />

  <!-- nodelet manager -->
  <arg name="MANAGER" value="recog_pepperbox_manager" />
  <node pkg="nodelet" type="nodelet" name="$(arg MANAGER)" args="manager" output="screen" />

  <!-- load pcd -->
  <node pkg="pcl_ros" type="pcd_to_pointcloud" name="pcd_to_pointcloud"
        args="$(arg PCD_PATH) 0.03" output="screen">
    <remap from="cloud_pcd" to="/camera_remote/depth_registered/points" />
    <param name="frame_id" value="/camera_rgb_optical_frame" />
  </node>

  <!-- plane segmentation -->
  <node pkg="nodelet" type="nodelet" name="multi_plane_estimate"
        args="standalone jsk_pcl/OrganizedMultiPlaneSegmentation $(arg MANAGER)"
        launch-prefix="xterm -e gdb --args">
    <remap from="~input" to="/camera_remote/depth_registered/points" />
    <rosparam>                                                                                                                                             
      max_curvature: 0.01                                                                                                                                  
      estimate_normal: true                                                                                                                                
    </rosparam>
  </node>

  <!-- to subscribe output because of connection based nodelet -->
  <node pkg="topic_tools" type="relay" name="relay"
    args="/multi_plane_estimate/output_refined_polygon /dummy" >
  </node> 
</launch>