File: tabletop_object_detector/Table.msg
# Informs that a planar table has been detected at a given location
# The pose gives you the transform that take you to the coordinate system
# of the table, with the origin somewhere in the table plane and the
# z axis normal to the plane
geometry_msgs/PoseStamped pose
# These values give you the observed extents of the table, along x and y,
# in the table's own coordinate system (above)
# there is no guarantee that the origin of the table coordinate system is
# inside the boundary defined by these values.
float32 x_min
float32 x_max
float32 y_min
float32 y_max
# There is no guarantee that the table doe NOT extend further than these
# values; this is just as far as we've observed it.
Expanded Definition