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How to get clusters location in tabletop_object_detector ?

asked 2014-08-11 05:17:02 -0600

Haitham El-Hussieny gravatar image

Hello, I used tabletop_object_detector correctly in my own node and call the segmentation service and get the cluster size correctly. Now I need to get the location in XYZ of the segmented objects (clusters) but I don't know how.

Note: I use the segmentation node only without recognition facility.

Regards,

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answered 2014-08-11 12:42:39 -0600

hsiao gravatar image

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-ma...

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Asked: 2014-08-11 05:17:02 -0600

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Last updated: Aug 11 '14