Fawkes API Fawkes Development Version
tabletop_objects_plugin.cpp
1
2/***************************************************************************
3 * tabletop_objects_plugin.cpp - Segment table using PCL
4 *
5 * Created: Fri Nov 04 23:38:26 2011
6 * Copyright 2011 Tim Niemueller [www.niemueller.de]
7 *
8 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#include "tabletop_objects_thread.h"
24
25#include <core/plugin.h>
26#ifdef HAVE_VISUAL_DEBUGGING
27# include "visualization_thread.h"
28#endif
29
30using namespace fawkes;
31
32/** Plugin to segment a tabletop via PCL.
33 * @author Tim Niemueller
34 */
36{
37public:
38 /** Constructor.
39 * @param config Fawkes configuration
40 */
42 {
44 thread_list.push_back(tabobjthr);
45#ifdef HAVE_VISUAL_DEBUGGING
47 tabobjthr->set_visualization_thread(visthr);
48 thread_list.push_back(visthr);
49#endif
50 }
51};
52
53PLUGIN_DESCRIPTION("Detect objects on tabletop using PCL")
54EXPORT_PLUGIN(TabletopObjectsPlugin)
Plugin to segment a tabletop via PCL.
TabletopObjectsPlugin(Configuration *config)
Constructor.
Main thread of tabletop objects plugin.
Send Marker messages to rviz.
Interface for configuration handling.
Definition: config.h:68
Plugin interface class.
Definition: plugin.h:34
ThreadList thread_list
Thread list member.
Definition: plugin.h:53
Configuration * config
Fawkes configuration.
Definition: plugin.h:58
void push_back(Thread *thread)
Add thread to the end.
Fawkes library namespace.