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object_recognition_clusters

Package to contain nodes and modules for publishing and processing clusters within the Object Recognition Kitchen.

###Modules

##Ecto

  • io_clusters.PointCloudMsgAssembler that generates pointclouds based on a set of clusters
  • ObjectClustersPublisher ecto plasm which connects to the tabletop pipeline with the PointCloudAssembler and publishes the

##Python

  • object_recognition_clusters.ClusterBoundingBoxFinder which computes the pose of an object given it's point cluster using PCA

###Nodes

  • clusters_to_pose that runs the clustering the python module, used mainly for testing and demonstration.