File: tabletop_object_detector/TabletopDetection.srv
# service will run on last received cloud, no cloud is passed in
# clustering is done as an intermediate step for model detection
# but we can also return the clusters themselves if the caller wants them
# this flag tells whether the computed clusters should be returned
bool return_clusters
# if only clusters are of interest, then model fitting can be skipped
# this flag tells whether model fitting should be performed and the results returned
bool return_models
# The number of potential fit models which should be returned for each cluster
int32 num_models
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# reply is message with table and models
TabletopDetectionResult detection
Expanded Definition