INSTALLATION
sudo pip install --upgrade pip
pip install oct2py
pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nose

USAGE
3D analysis uses 2D pictures to find labware on the deck and Point Cloud data
- 2D images come from the DS325 [ros_depthsense_camera node]
- PCL files come from ros node [pcl_to_windows] which are .txt files

HOW DOES IT WORK
It has to transform .txt to .mat files before it start the analysis on 2D images using Octave


  ModuleDetection.py :
   Calls function to create x-y-z-r-g-b file
   Calls function to create .mat file
   Calls function to analyse 2D and PCL data
   Return a dictionnary with all labware detected: {[id,name,x,y,z,uid,image,source]} 
	and save it in the database
  camera_3d.py :
   ROS node calling analysis functions when asked to
  ObjectDetection.m :
   Octave file performing image analysis (2D + 3D) (called by ModuleDetection.py)
  data/CreateMatFile.m :
   Octave file writing .mat file from x-y-z-r-g-b data (called by ModuleDetection.py)


Start 3D cartography (standalone)
>ros_ws : rosrun pcl_to_windows pcl_xyzrgb
>biobot_ros_jtk : rosrun depthsense_camera_node camera_node
> python camera_3d.py