Contents
The srs_object_verification gets extracted table planes from cob_3d_mapping_semantics as well as an expected table pose from srs_knowledge as input and returns whether the table was detected at the expected pose.
Usage/Examples
Start the fake mapping from cob_3d_mapping_pipeline_fake
roslaunch cob_3d_mapping_pipeline_fake mapping.launch
Start the table extraction that is located in cob_3d_mapping_semantics
roslaunch cob_3d_mapping_semantics extract_tables.launch
Test the verification using the test client in srs_states
rosrun srs_states test_verfication_state.py
The output should be
table 0.67,1.26 found at 0.612453043461,1.13954079151