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.