object_recognition_clusters package from object_recognition_clusters repo

object_recognition_clusters

Package Summary

Tags No category tags.
Version 0.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/pal-robotics/object_recognition_clusters.git
VCS Type git
VCS Version master
Last Updated 2014-06-23
Dev Status MAINTAINED
Released RELEASED

Package Description

The object_recognition_clusters package

Additional Links

No additional links.

Maintainers

  • Bence Magyar

Authors

  • Bence Magyar
  • Kaijen Hsiao

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.
CHANGELOG

Changelog for package object_recognition_clusters

0.1.0 (2014-06-23)

  • Adding minimum version of sensor_msgs package
  • Commented out debugging TF publishing. Was giving a continuous warning looking like: Unable to transform object from frame \'object_frame\' to planning frame \'/odom\' (Lookup would require extrapolation into the past. Requested time 82.933000000 but the earliest data is at time 96.737000000, when looking up transform from frame [object_frame] to frame [odom])
  • Moved get_param to __init__, to avoid creating zombie sockets with each call.
  • Adding documentation to readme + image
  • Added optional base frame to use to class init. Modified the return value of main clustering function to return pose message
  • Migrated cluster_bounding_box_finder to hydro and set up test in node.
  • Add package with node that tests recog message.
  • Contributors: Bence Magyar, Sam Pfeiffer

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

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Dependant Packages

No known dependants.

Launch files

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Messages

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Services

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Plugins

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