- poitclounds: https://pointclouds.org/
- http://wiki.ros.org/message_filters - Time Synchronizer
write a rosservice produce vision_msgs.msg import Detection3D, Detection3DArray estimate: given an image -> produce a 6D Pose Estimation
rosservice is called, waits for images, delivers a 6D Pose Estimation for each object.
instead of an image as argument subscribe to rgb and also to depth image, synchronise topics and use callback result image for the estimate function.
Instead of raw pixels use detections = self._get_detections(img) for d2d in detections.detections: .... estimate: 2d-detections -> 6d-pose-estimation
processing file /home/lvonseelstrang/RoboCup/clf_object_recognition/clf_object_recognition_3d/src/clf_object_recognition_3d
launch file: /home/lvonseelstrang/RoboCup/clf_object_recognition/clf_object_recognition_3d/launch
display mesh: http://wiki.ros.org/rviz/DisplayTypes/Marker#Mesh_Resource_.28MESH_RESOURCE.3D10.29_.5B1.1.2B-.5D
getting the object corresponding to an id rosparam get /object_labels/id