Tabletop Detects Any Can, Not Just Coke

[srgarbarino]

I got my tabletop detection working this week and was able to successfully detect a can of Coke based on the tutorial meshes. I confirmed this using $ rostopic echo /recognized_object_array | head -20 to read back the object id name to see if it matched my object in couchdb.

I created the object in couchdb using the coke.obj file, so tabletop should pay attention to the color of the can right? Problem is that tabletop will also recognize a sprite can, which is green. Is there a problem with my object in couchdb or the .obj file? Or does tabletop not pay attention to color, and just shape?

[pringithub]

it appears that the algorithm matches the 3d cylindrical mesh that you supply to the one shown in the pointcloud