File: tabletop_object_detector/TabletopObjectRecognition.srv
# The information for the plane that has been detected
Table table
# The raw clusters detected in the scan
sensor_msgs/PointCloud[] clusters
# How many models should be returned for each recognition
int32 num_models
# Whether to perform a merge step based on model fit results
bool perform_fit_merge
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# The list of models that have been detected along with confidence levels
household_objects_database_msgs/DatabaseModelPoseList[] models
# For each cluster, the index of the list of models that was fit to that cluster
# keep in mind that multiple raw clusters can correspond to a single fit
int32[] cluster_model_indices
Expanded Definition