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The segmentation service just returns the points in the cluster. If you want a representative 'location' for the clusters, you might find the bounding box and use that. This service, for instance, can give you a bounding box based on 2-D PCA (z-axis is up, like you probably want on a table). (You want the non-3d version for table objects.)

https://github.com/ros-interactive-manipulation/object_manipulation/blob/groovy-devel/object_manipulator/scripts/cluster_bounding_box_finder_server.py