Added table plane point cloud in the service

include/tos_supervoxels_alg.h

@@ -201,6 +201,8 @@ class TosSupervoxelsAlgorithm
     */
     std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > get_segmented_objects_simple();
 
+    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr get_plane_cloud();
+
     /*! \brief Print the parameters of the algorithm in the shell
     */
     void print_parameters();

src/tos_supervoxels_alg.cpp

@@ -62,6 +62,11 @@ std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > TosSupervoxelsAlgorithm::get_se
   return this->obj_segment.get_segmented_objects_simple();
 }
 
+pcl::PointCloud<pcl::PointXYZRGBA>::Ptr TosSupervoxelsAlgorithm::get_plane_cloud()
+{
+  return this->obj_segment.get_plane_cloud();
+}
+
 void TosSupervoxelsAlgorithm::print_parameters()
 {
   this->obj_segment.print_parameters();

src/tos_supervoxels_alg_node.cpp

@@ -119,7 +119,8 @@ bool TosSupervoxelsAlgNode::object_segmentationCallback(iri_tos_supervoxels::obj
   }
   res.objects = seg_objs_msg; 
 
-
+  // get the table point cloud
+  pcl::toROSMsg(*(this->alg_.get_plane_cloud()),res.plane_cloud);
 
   //unlock previously blocked shared variables
   this->object_segmentation_mutex_exit();

srv/object_segmentation.srv

 sensor_msgs/PointCloud2 point_cloud
 ---
 iri_tos_supervoxels/segmented_objects objects
-iri_tos_supervoxels/plane_coefficients plane_coeff
\ No newline at end of file
+iri_tos_supervoxels/plane_coefficients plane_coeff
+sensor_msgs/PointCloud2 plane_cloud