This is a ROS node that converts numpy voxel grid to a point cloud and transforms it to the robot frame.
The mesh2cloud_node node subscribes to the following topics:
/camera/depth_registered/points (sensor_msgs::PointCloud2)the robot's RGB-D point cloud./predicted_pose_np (rospy_tutorials::Floats)floats of the predicted pose (azimuth and elevation angles)./predicted_voxel_np (rospy_tutorials::Floats)floats of the predicted shape (voxel grid)./bbox (rospy_tutorials::Floats)floats of the bounding box containing the detected object.
The mesh2cloud_node node publishes to the following topics:
/predicted_mug_cloud (sensor_msgs::PointCloud2)the input voxel grid converted into a point cloud and transformed to the robots frame.