It is based on the object_classifier ros package (read instructions there on how to train it).

You can launch the multi-view service, single-view service and segmentation module as follows:

roslaunch mv_object_classifier mv_classifier_from_files_demo.launch models_dir:=/media/DATA/Cat200_ModelDatabase_small/ trainingdir:=/media/DATA/Cat200_ModelDatabase_smalltrained/ chop_z:=1 mv_visualize_output:=true

and then:

rosrun mv_object_classifier mv_object_classifier_demo_from_file _folder:=${DATA}

where data should point to the data/mv_seq1/ folder within this package or any folder containing PCD files that will be used as input for the multi-view classifier.

Original page: https://github.com/strands-project/strands_tabletop_perception/blob/hydro-devel/mv_object_classifier/README.md