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index b84d7a1defb84a5294a3026379f4b7571d2e18b8..ca1aa65aaadb0bbc9a2849e61b2a0400f0e7d11d 100644
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+boost/shared_ptr.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/surface/convex_hull.h
+pcl/pcl_config.h
+-
+pcl/surface/reconstruction.h
+-
+pcl/ModelCoefficients.h
+-
+pcl/PolygonMesh.h
+-
+pcl/surface/impl/convex_hull.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/surface/impl/convex_hull.hpp
+pcl/pcl_config.h
+-
+pcl/surface/convex_hull.h
+-
+pcl/common/common.h
+-
+pcl/common/eigen.h
+-
+pcl/common/transforms.h
+-
+pcl/common/io.h
+-
+stdio.h
+-
+stdlib.h
+-
+pcl/surface/qhull.h
+-
+
+/usr/local/include/pcl-1.8/pcl/surface/impl/reconstruction.hpp
+pcl/search/pcl_search.h
+-
+
+/usr/local/include/pcl-1.8/pcl/surface/qhull.h
+pcl/pcl_config.h
+-
+libqhull/libqhull.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/libqhull.h
+libqhull/mem.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/mem.h
+libqhull/qset.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/qset.h
+libqhull/geom.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/geom.h
+libqhull/merge.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/merge.h
+libqhull/poly.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/poly.h
+libqhull/io.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/io.h
+libqhull/stat.h
+/usr/local/include/pcl-1.8/pcl/surface/libqhull/stat.h
+qhull/qhull.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/qhull.h
+qhull/mem.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/mem.h
+qhull/qset.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/qset.h
+qhull/geom.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/geom.h
+qhull/merge.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/merge.h
+qhull/poly.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/poly.h
+qhull/io.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/io.h
+qhull/stat.h
+/usr/local/include/pcl-1.8/pcl/surface/qhull/stat.h
+
+/usr/local/include/pcl-1.8/pcl/surface/reconstruction.h
+pcl/pcl_base.h
+-
+pcl/PolygonMesh.h
+-
+pcl/search/pcl_search.h
+-
+pcl/conversions.h
+-
+pcl/surface/boost.h
+-
+pcl/surface/impl/reconstruction.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/area_picking_event.h
+pcl/pcl_macros.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/boost.h
+boost/function.hpp
+-
+boost/shared_array.hpp
+-
+boost/signals2.hpp
+-
+boost/shared_ptr.hpp
+-
+boost/algorithm/string.hpp
+-
+boost/algorithm/string/split.hpp
+-
+boost/algorithm/string/classification.hpp
+-
+boost/thread.hpp
+-
+boost/bind.hpp
+-
+boost/unordered_map.hpp
+-
+boost/thread/mutex.hpp
+-
+boost/thread/thread.hpp
+-
+boost/foreach.hpp
+-
+boost/date_time/posix_time/posix_time.hpp
+-
+boost/filesystem.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/actor_map.h
+pcl/visualization/point_cloud_handlers.h
+-
+vector
+-
+map
+-
+pcl/PCLPointCloud2.h
+-
+boost/unordered_map.hpp
+-
+vtkLODActor.h
+-
+vtkSmartPointer.h
+-
+pcl/PCLPointCloud2.h
+-
+pcl/visualization/boost.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/common.h
+pcl/pcl_macros.h
+-
+pcl/visualization/eigen.h
+-
+vtkMatrix4x4.h
+-
+pcl/visualization/common/impl/common.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/impl/common.hpp
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/impl/shapes.hpp
+vtkSmartPointer.h
+-
+vtkPoints.h
+-
+vtkPolygon.h
+-
+vtkUnstructuredGrid.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/ren_win_interact_map.h
+map
+-
+string
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/common/shapes.h
+pcl/ModelCoefficients.h
+-
+pcl/point_cloud.h
+-
+pcl/visualization/eigen.h
+-
+pcl/geometry/planar_polygon.h
+-
+pcl/visualization/common/impl/shapes.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/eigen.h
+Eigen/Geometry
+-
+Eigen/Dense
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/impl/pcl_visualizer.hpp
+vtkVersion.h
+-
+vtkSmartPointer.h
+-
+vtkCellArray.h
+-
+vtkLeaderActor2D.h
+-
+vtkVectorText.h
+-
+vtkAlgorithmOutput.h
+-
+vtkFollower.h
+-
+vtkMath.h
+-
+vtkSphereSource.h
+-
+vtkProperty2D.h
+-
+vtkDataSetSurfaceFilter.h
+-
+vtkPointData.h
+-
+vtkPolyDataMapper.h
+-
+vtkProperty.h
+-
+vtkMapper.h
+-
+vtkCellData.h
+-
+vtkDataSetMapper.h
+-
+vtkRenderer.h
+-
+vtkRendererCollection.h
+-
+vtkAppendPolyData.h
+-
+vtkTextProperty.h
+-
+vtkLODActor.h
+-
+vtkLineSource.h
+-
+pcl/visualization/common/shapes.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/impl/point_cloud_color_handlers.hpp
+set
+-
+map
+-
+pcl/pcl_macros.h
+-
+pcl/common/colors.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/impl/point_cloud_geometry_handlers.hpp
+pcl/pcl_macros.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/interactor_style.h
+pcl/console/print.h
+-
+pcl/visualization/common/actor_map.h
+-
+pcl/visualization/common/ren_win_interact_map.h
+-
+pcl/visualization/keyboard_event.h
+-
+pcl/visualization/mouse_event.h
+-
+pcl/visualization/point_picking_event.h
+-
+pcl/visualization/area_picking_event.h
+-
+boost/signals2/signal.hpp
+-
+vtkInteractorStyleRubberBandPick.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/keyboard_event.h
+string
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/mouse_event.h
+pcl/visualization/keyboard_event.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/pcl_visualizer.h
+pcl/correspondence.h
+-
+pcl/ModelCoefficients.h
+-
+pcl/PolygonMesh.h
+-
+pcl/TextureMesh.h
+-
+pcl/console/print.h
+-
+pcl/visualization/common/actor_map.h
+-
+pcl/visualization/common/common.h
+-
+pcl/visualization/point_cloud_geometry_handlers.h
+-
+pcl/visualization/point_cloud_color_handlers.h
+-
+pcl/visualization/point_picking_event.h
+-
+pcl/visualization/area_picking_event.h
+-
+pcl/visualization/interactor_style.h
+-
+pcl/visualization/impl/pcl_visualizer.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/point_cloud_color_handlers.h
+pcl/point_cloud.h
+-
+pcl/common/io.h
+-
+pcl/visualization/common/common.h
+-
+vtkSmartPointer.h
+-
+vtkDataArray.h
+-
+vtkFloatArray.h
+-
+vtkUnsignedCharArray.h
+-
+pcl/visualization/impl/point_cloud_color_handlers.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/point_cloud_geometry_handlers.h
+pcl/point_cloud.h
+-
+pcl/common/io.h
+-
+vtkSmartPointer.h
+-
+vtkPoints.h
+-
+vtkFloatArray.h
+-
+pcl/visualization/impl/point_cloud_geometry_handlers.hpp
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/point_cloud_handlers.h
+pcl/visualization/point_cloud_geometry_handlers.h
+-
+pcl/visualization/point_cloud_color_handlers.h
+-
+
+/usr/local/include/pcl-1.8/pcl/visualization/point_picking_event.h
+pcl/pcl_macros.h
+-
+vector
+-
+vtkCommand.h
+-
+
diff --git a/trunk/build/src/CMakeFiles/tabletop_object_detection.dir/tabletop_object_detection.o b/trunk/build/src/CMakeFiles/tabletop_object_detection.dir/tabletop_object_detection.o
index 948865436312354ee0136a853aafc7c7c81d02ff..e1a287ba8b07db1b459a6fddc8aab40e53956def 100644
Binary files a/trunk/build/src/CMakeFiles/tabletop_object_detection.dir/tabletop_object_detection.o and b/trunk/build/src/CMakeFiles/tabletop_object_detection.dir/tabletop_object_detection.o differ
diff --git a/trunk/build/src/examples/CMakeFiles/tabletop_object_detection_test.dir/CXX.includecache b/trunk/build/src/examples/CMakeFiles/tabletop_object_detection_test.dir/CXX.includecache
index f5ac9968fe15f2c7feda945a430f01f8928047c0..d2503cdd451e4d7a12b7e8b84b6426e8296d08f3 100644
--- a/trunk/build/src/examples/CMakeFiles/tabletop_object_detection_test.dir/CXX.includecache
+++ b/trunk/build/src/examples/CMakeFiles/tabletop_object_detection_test.dir/CXX.includecache
@@ -7,12 +7,12 @@
 #IncludeRegexTransform: 
 
 ../src/./tabletop_object_detection.h
-pcl/console/parse.h
--
 pcl/point_cloud.h
 -
 pcl/point_types.h
 -
+pcl/console/parse.h
+-
 pcl/io/pcd_io.h
 -
 pcl/visualization/pcl_visualizer.h
@@ -23,16 +23,12 @@ iostream
 -
 pcl/ModelCoefficients.h
 -
-pcl/io/pcd_io.h
--
 pcl/sample_consensus/method_types.h
 -
 pcl/sample_consensus/model_types.h
 -
 pcl/segmentation/sac_segmentation.h
 -
-pcl/filters/extract_indices.h
--
 pcl/segmentation/lccp_segmentation.h
 -
 vtkPolyLine.h
@@ -55,6 +51,8 @@ tabletop_object_detection.h
 /home/nicola/iri_ws/labrobotica/algorithms/tableTop_object_detection/trunk/src/examples/tabletop_object_detection.h
 pcl/visualization/pcl_visualizer.h
 -
+pcl/console/parse.h
+-
 opencv2/imgproc/imgproc.hpp
 /home/nicola/iri_ws/labrobotica/algorithms/tableTop_object_detection/trunk/src/examples/opencv2/imgproc/imgproc.hpp
 opencv2/highgui/highgui.hpp
diff --git a/trunk/lib/libtabletop_object_detection.so b/trunk/lib/libtabletop_object_detection.so
index 9db272432af10b1bf2793c88f9896b487e960102..390326191274c9911b5e19da7cf4661982bbb45d 100755
Binary files a/trunk/lib/libtabletop_object_detection.so and b/trunk/lib/libtabletop_object_detection.so differ
diff --git a/trunk/src/examples/tabletop_object_detection_test.cpp b/trunk/src/examples/tabletop_object_detection_test.cpp
index 4cfe3879a34b90e5756b9c9792226650bd65b90d..b2c877716b05b48a65607a3f916ecdd235868a24 100644
--- a/trunk/src/examples/tabletop_object_detection_test.cpp
+++ b/trunk/src/examples/tabletop_object_detection_test.cpp
@@ -25,6 +25,7 @@ To segment changing some parameters
 #include "tabletop_object_detection.h"
 
 #include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/console/parse.h>
 
 // these includes are for retrieve the objects' points in the RGB image
 #include "opencv2/imgproc/imgproc.hpp"
diff --git a/trunk/src/tabletop_object_detection.cpp b/trunk/src/tabletop_object_detection.cpp
index 701d9f93b2008dfc8d99559482ac07d67876ed79..8463aaea8052f2b355732903b31f57cf42fa6274 100644
--- a/trunk/src/tabletop_object_detection.cpp
+++ b/trunk/src/tabletop_object_detection.cpp
@@ -200,35 +200,21 @@ void TableTop_Object_Detection::segment()
   //float t_ini = cv::getTickCount();
 
   pcl::PointIndices::Ptr obj_idx (new pcl::PointIndices());
-  detectObjectsOnTable(cloud, zmin, this->zmax , obj_idx, true);
+  detectObjectsOnTable(this->cloud, this->zmin, this->zmax , obj_idx, true);
   //float elapsed_time_plane = (cv::getTickCount()-t_ini)/cv::getTickFrequency();
 
-  //-------------------- parameters ----------
-  //Super Voxel Algorithm's parameters
-  bool disable_transform = this->disable_transform;
-  float voxel_resolution = (float)this->voxel_resolution; //0.0075f
-  float seed_resolution = (float)this->seed_resolution; //0.03f;
-  float color_importance = (float)this->color_importance;
-  float spatial_importance = (float)this->spatial_importance;
-  float normal_importance = (float)this->normal_importance;
+  if(this->seed_resolution < 0.013)
+    pcl::console::print_warn("[TableTop_Object_Detection] seed resolution very low, the segmentation could be fragmented.");
 
-  // LCCPSegmentation parameters
-  float concavity_tolerance_threshold = (float)this->concavity_tolerance_threshold;
-  float smoothness_threshold = (float)this->smoothness_threshold;
-  uint32_t min_segment_size = (uint32_t)this->min_segment_size;
-  bool use_extended_convexity = this->use_extended_convexity;
-  bool use_sanity_criterion = this->use_sanity_criterion;
-  //-------------------------------------------
+  pcl::SupervoxelClustering<pcl::PointXYZRGBA> super (this->voxel_resolution, this->seed_resolution);
 
-  pcl::SupervoxelClustering<pcl::PointXYZRGBA> super (voxel_resolution, seed_resolution);
-
-  super.setInputCloud (cloud);
+  super.setInputCloud (this->cloud);
 
   //super.setNormalCloud (input_normals);
 
-  super.setColorImportance (color_importance);
-  super.setSpatialImportance (spatial_importance);
-  super.setNormalImportance (normal_importance);
+  super.setColorImportance (this->color_importance);
+  super.setSpatialImportance (this->spatial_importance);
+  super.setNormalImportance (this->normal_importance);
  
   super.extract (supervoxel_clusters);
   labeled_voxel_cloud = super.getLabeledVoxelCloud ();
@@ -250,8 +236,6 @@ void TableTop_Object_Detection::segment()
   typedef boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> VoxelAdjacencyList;
   VoxelAdjacencyList supervoxel_adjacency_list;
   super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);
-
-  float normals_scale = seed_resolution / 2.0;
   
   // Segmentation Stuff
   
@@ -260,12 +244,12 @@ void TableTop_Object_Detection::segment()
     k_factor = 1;
 
   pcl::LCCPSegmentation<pcl::PointXYZRGBA> lccp;
-  lccp.setConcavityToleranceThreshold (concavity_tolerance_threshold);
-  lccp.setSanityCheck (use_sanity_criterion);
-  lccp.setSmoothnessCheck (true, voxel_resolution, seed_resolution, smoothness_threshold);
+  lccp.setConcavityToleranceThreshold (this->concavity_tolerance_threshold);
+  lccp.setSanityCheck (this->use_sanity_criterion);
+  lccp.setSmoothnessCheck (true, this->voxel_resolution, this->seed_resolution, this->smoothness_threshold);
   lccp.setKFactor (k_factor);
-  lccp.setInputSupervoxels (supervoxel_clusters, supervoxel_adjacency);
-  lccp.setMinSegmentSize (min_segment_size);
+  lccp.setInputSupervoxels (this->supervoxel_clusters, this->supervoxel_adjacency);
+  lccp.setMinSegmentSize (this->min_segment_size);
   lccp.segment ();
 
   pcl::PointCloud<pcl::PointXYZL>::Ptr sv_labeled_cloud = super.getLabeledCloud ();
diff --git a/trunk/src/tabletop_object_detection.h b/trunk/src/tabletop_object_detection.h
index cebf7dcb08b772a6b605b3398622f18ec3868c8c..537e481e542d3a172b9de8207ec4ccdc561f40f3 100644
--- a/trunk/src/tabletop_object_detection.h
+++ b/trunk/src/tabletop_object_detection.h
@@ -1,20 +1,18 @@
 #ifndef SEGMENTATION_H_
 #define SEGMENTATION_H_
 
-#include <pcl/console/parse.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
+#include <pcl/console/parse.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/segmentation/supervoxel_clustering.h>
 
 #include <iostream>
 #include <pcl/ModelCoefficients.h>
-#include <pcl/io/pcd_io.h>
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl/segmentation/sac_segmentation.h>
-#include <pcl/filters/extract_indices.h>
 
 #include <pcl/segmentation/lccp_segmentation.h>
 #include <vtkPolyLine.h>