ROS affordance_learning stack: perception v1.1

I’ve improved the perception module and modified most of the classes considerably to have more manage-able and distributed structure. Here are the major changes:

  • Replaced BoundingBox and Object classes with the arm_navigation_msgs::CollisionObject and Entity type structures, and modified most of modules correspondingly,
  • Volumetric occupancy (volume intersection) based object similarity check routines have been added.
  • Nested/merged box support added which enables us to track objects more reliably
  • id assignment is done irrespective of the pose of the objects
  • overall system performance increase from 3fps to ~15fps thanks to the kinect sensor, and other improvements in the filtering components

Here is a video from one of the tests:


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