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 
30 using namespace fawkes;
31 
32 /** Plugin to segment a tabletop via PCL.
33  * @author Tim Niemueller
34  */
36 {
37 public:
38  /** Constructor.
39  * @param config Fawkes configuration
40  */
41  explicit TabletopObjectsPlugin(Configuration *config) : Plugin(config)
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 
53 PLUGIN_DESCRIPTION("Detect objects on tabletop using PCL")
54 EXPORT_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
Fawkes library namespace.