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tabletop_objects_plugin.cpp
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/***************************************************************************
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* tabletop_objects_plugin.cpp - Segment table using PCL
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*
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* Created: Fri Nov 04 23:38:26 2011
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* Copyright 2011 Tim Niemueller [www.niemueller.de]
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*
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#include <core/plugin.h>
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#include "tabletop_objects_thread.h"
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#ifdef HAVE_VISUAL_DEBUGGING
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# include "visualization_thread.h"
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#endif
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using namespace
fawkes;
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/** Plugin to segment a tabletop via PCL.
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* @author Tim Niemueller
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*/
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class
TabletopObjectsPlugin
:
public
fawkes::Plugin
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{
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public
:
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/** Constructor.
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* @param config Fawkes configuration
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*/
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TabletopObjectsPlugin
(
Configuration
*config)
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:
Plugin
(config)
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{
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TabletopObjectsThread
*tabobjthr =
new
TabletopObjectsThread
();
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thread_list.push_back(tabobjthr);
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#ifdef HAVE_VISUAL_DEBUGGING
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TabletopVisualizationThread
*visthr =
new
TabletopVisualizationThread
();
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tabobjthr->set_visualization_thread(visthr);
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thread_list.push_back(visthr);
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#endif
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}
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};
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PLUGIN_DESCRIPTION(
"Detect objects on tabletop using PCL"
)
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EXPORT_PLUGIN(
TabletopObjectsPlugin
)
src
plugins
perception
tabletop-objects
tabletop_objects_plugin.cpp
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