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In this work, we proposed a novel method for segmenting 3D object pointclouds into parts. The segmentation is guided based on graspabilty and is formulated based on a compositional model.
The software is available Code. The code is written mainly in C++ and partially in python and is tested on a linux 12.04 LTS machine. It requires c++ and python3, PCL 1.7, armadillo and tinyxml. Please do not hesitate to contact me for questions or comments for the software.