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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.


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

2024-06-15 13:47