std_msgs/Header header

bool is_obj
uint32 id
string label
float64 score

sensor_msgs/PointCloud2 cloud
perception_msgs/ObstacleCell[] cells 
geometry_msgs/PolygonStamped convex_hull

geometry_msgs/Pose pose
geometry_msgs/Vector3 dimensions
float64 estimated_angle

geometry_msgs/PointStamped min_point
geometry_msgs/PointStamped max_point
geometry_msgs/PointStamped avg_point
geometry_msgs/PointStamped centroid_point

geometry_msgs/Vector3 eigen_values
geometry_msgs/Vector3[] eigen_vectors
#Array of 33 floats containing the FPFH descriptor
std_msgs/Float32MultiArray fpfh_descriptor 

# Indicator information
# INDICATOR_LEFT 0
# INDICATOR_RIGHT 1
# INDICATOR_BOTH 2
# INDICATOR_NONE 3
uint32 indicator_state