pr2_clutter_helper Helpful short functions for trapping an image, pointcloud, transforms from tf, camera_info from the PR2. Used to grab data for the package "gt-ros-pkg/hrl/clutter_segmentation" Works on bagged data as well (if --clock is published). Main source file: acquire_pr2_data.py This collects and formats everythin needed by clutter_svm_segmentation. Also has code to map camera coloring into pointcloud and republish for easy viewing in ROS (Active if run stand-alone). Also helpful launch files.
pr2_lcs_helper is ...