ece4560:visman:06blocks
This is an old revision of the document!
Use the segmented block information to recover point clouds of the objects. Estimate their reference frames using a similar SVD technique as for the tabletop plane (or maybe a PCA / eigenvector one will work).
Use rviz to visualize the reference frames at the centroids. It might be best to have the centroid be the robust mean in the (x,y) tabletop plane coordinates and the median or mode of (z) tabletop plane coordinates. That way the top surface is captured, not the edges.
ece4560/visman/06blocks.1633794832.txt.gz · Last modified: 2024/08/20 21:38 (external edit)