def main():
rospy.init_node("show_boxes", anonymous=True)
detector = GenericDetector(tabletop_segmentation="find_table")
res = detector.segment_only().detection
if res is None:
rospy.logerr("No object found!")
return
rospy.loginfo("I've found %d boxes", len(res.clusters))
for i, cluster in enumerate(res.clusters):
box = detector.detect_bounding_box(cluster)
if box is None:
rospy.logerr("Error while plotting a box")
continue
r = random.random()
g = random.random()
b = random.random()
detector.draw_bounding_box(i, box, (0.7, r,g,b))
rospy.loginfo("Done")
