meldon_detection

Make sure you have the following installed:

opencv cv_bridge image_transport

Set $DECTECTION to the appropriate directory

export DETECTION=$HOME/catkin_ws/src/baxter_h2r_packages/meldon_detection

Install the matio dependencies

export PKG_CONFIG_PATH=$DECTECTION/src/kdes/dependencies/matio:$PKG_CONFIG_PATH
cd $DECTECTION/src/kdes
./install-dependencies.sh #NOTE: this will yield an error referencing doxygen. This is fine.
export LD_LIBRARY_PATH=$DECTECTION/src/kdes/dependencies/matio/src/.libs:$LD_LIBRARY_PATH
cd KernelDescriptors_CPU/
make
cd $CATKIN_WS
catkin_make

To run:

rosrun meldon_detection talker $CATKIN_WS
roslaunch baxter_ork detection.launch
rosrun object_recognition_ros client

The last step must be performed every time you wish to receive a labeling. Labeled clusters are published to /labeled_objects in the form of RecognizedObjectArray.msg