From a1f626874b2b7fa5de713ee2b68ccd6c3da48c49 Mon Sep 17 00:00:00 2001
From: NicolaCovallero <nicolacovallero92@gmail.com>
Date: Fri, 19 Feb 2016 21:03:30 +0100
Subject: [PATCH] added reset method to free memory and get_input_cloud method

---
 trunk/bin/tabletop_object_detection_test      |  Bin 123288 -> 123359 bytes
 .../tabletop_object_detection.o               |  Bin 353448 -> 356768 bytes
 .../tabletop_object_detection_test.o          |  Bin 170960 -> 171048 bytes
 trunk/doc/html/annotated.html                 |    2 +-
 .../classTableTop__Object__Detection.html     |  126 +-
 trunk/doc/html/classes.html                   |    2 +-
 .../dir_68267d1309a1af8e8297ef4c3efbcdba.html |    2 +-
 .../dir_e931c1a3f0014e624d0645a271726ad2.html |    2 +-
 trunk/doc/html/examples.html                  |    2 +-
 trunk/doc/html/files.html                     |    2 +-
 trunk/doc/html/functions.html                 |   52 +-
 trunk/doc/html/functions_func.html            |    8 +-
 trunk/doc/html/functions_vars.html            |   46 +-
 trunk/doc/html/graph_legend.html              |    2 +-
 trunk/doc/html/index.html                     |    2 +-
 trunk/doc/html/structObject.html              |    2 +-
 ...bleTop__object__detection__parameters.html |   30 +-
 ...object_segmentation_test_8cpp-example.html |    2 +-
 ...bletop__object__detection_8cpp_source.html | 1208 +++++++++--------
 ...tabletop__object__detection_8h_source.html |  188 +--
 ...__object__detection__test_8cpp_source.html |  228 ++--
 trunk/lib/libtabletop_object_detection.so     |  Bin 262234 -> 262895 bytes
 .../tabletop_object_detection_test.cpp        |   22 +-
 trunk/src/tabletop_object_detection.cpp       |   59 +-
 trunk/src/tabletop_object_detection.h         |   11 +-
 25 files changed, 1058 insertions(+), 940 deletions(-)

diff --git a/trunk/bin/tabletop_object_detection_test b/trunk/bin/tabletop_object_detection_test
index 61abe2c15ad7c10b9ca1fb6b805b9fbdad94b161..00627579c0c736260d6b9436007d80ae350c9bf9 100755
GIT binary patch
delta 27124
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+++ b/trunk/doc/html/annotated.html
@@ -57,7 +57,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/trunk/doc/html/classTableTop__Object__Detection.html b/trunk/doc/html/classTableTop__Object__Detection.html
index e0752a5..5d08f54 100644
--- a/trunk/doc/html/classTableTop__Object__Detection.html
+++ b/trunk/doc/html/classTableTop__Object__Detection.html
@@ -71,6 +71,10 @@ Public Member Functions</h2></td></tr>
 <tr class="memitem:a52028dcd2c15d9609ca4f5c0419c3e14"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#a52028dcd2c15d9609ca4f5c0419c3e14">init</a> (pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; input_cloud)</td></tr>
 <tr class="memdesc:a52028dcd2c15d9609ca4f5c0419c3e14"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class initializer, with default parameters.  <a href="#a52028dcd2c15d9609ca4f5c0419c3e14">More...</a><br/></td></tr>
 <tr class="separator:a52028dcd2c15d9609ca4f5c0419c3e14"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6f6a38de376991aae5e6bf3ff6d4206"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af6f6a38de376991aae5e6bf3ff6d4206"></a>
+void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">reset</a> ()</td></tr>
+<tr class="memdesc:af6f6a38de376991aae5e6bf3ff6d4206"><td class="mdescLeft">&#160;</td><td class="mdescRight">reset all the publis members reset all the public members. <br/></td></tr>
+<tr class="separator:af6f6a38de376991aae5e6bf3ff6d4206"><td class="memSeparator" colspan="2">&#160;</td></tr>
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 <a class="el" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">get_default_parameters</a> ()</td></tr>
 <tr class="memdesc:a890c8e6be3cae5aa41b8b2ecbc3bf34a"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the default parameters of the algorithm <br/></td></tr>
@@ -104,6 +108,11 @@ std::vector&lt; pcl::PointCloud<br class="typebreak"/>
 void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">print_parameters</a> ()</td></tr>
 <tr class="memdesc:ad13b6dd411e0a557a4de7a9323da33bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print the parameters of the algorithm in the shell. <br/></td></tr>
 <tr class="separator:ad13b6dd411e0a557a4de7a9323da33bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac438979dc29d88aea96f30cf652f9294"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac438979dc29d88aea96f30cf652f9294"></a>
+pcl::PointCloud<br class="typebreak"/>
+&lt; pcl::PointXYZRGBA &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">get_input_cloud</a> ()</td></tr>
+<tr class="memdesc:ac438979dc29d88aea96f30cf652f9294"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns input cloud <br/></td></tr>
+<tr class="separator:ac438979dc29d88aea96f30cf652f9294"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a48985d7b12316ccecbd85c7e09f1e6af"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48985d7b12316ccecbd85c7e09f1e6af"></a>
 pcl::PointCloud&lt; pcl::PointXYZL &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">get_labeled_voxel_cloud</a> ()</td></tr>
 <tr class="memdesc:a48985d7b12316ccecbd85c7e09f1e6af"><td class="mdescLeft">&#160;</td><td class="mdescRight">returns labeld voxel cloud <br/></td></tr>
@@ -226,9 +235,9 @@ void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="clas
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
 Protected Attributes</h2></td></tr>
-<tr class="memitem:aac70ce378ddcd44223d858d802129cab"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aac70ce378ddcd44223d858d802129cab"></a>
-std::vector&lt; <a class="el" href="structObject.html">Object</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>filt_objs</b></td></tr>
-<tr class="separator:aac70ce378ddcd44223d858d802129cab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afa5d21976e0bdf2a32108a1d85815f9b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afa5d21976e0bdf2a32108a1d85815f9b"></a>
+std::vector&lt; <a class="el" href="structObject.html">Object</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>detected_objects</b></td></tr>
+<tr class="separator:afa5d21976e0bdf2a32108a1d85815f9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a56344b968f8153f5b648a97d37054421"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a56344b968f8153f5b648a97d37054421"></a>
 pcl::PointCloud<br class="typebreak"/>
 &lt; pcl::PointXYZRGBA &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>cloud</b></td></tr>
@@ -281,6 +290,8 @@ pcl::PointCloud<br class="typebreak"/>
 <tr class="separator:ac42ea218190506b3d367406088fde651"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:aca1c3e7181470c613fe2044ca45adeba"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a></td></tr>
 <tr class="separator:aca1c3e7181470c613fe2044ca45adeba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2bc1fa0f283211f16eef9cfe8656ecc9"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">initialized</a></td></tr>
+<tr class="separator:a2bc1fa0f283211f16eef9cfe8656ecc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
 Static Protected Attributes</h2></td></tr>
@@ -381,9 +392,9 @@ Static Protected Attributes</h2></td></tr>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00079">79</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00093">93</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00305">show_super_voxels()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00325">show_super_voxels()</a>.</p>
 
 <p><div class="dynheader">
 Here is the caller graph for this function:</div>
@@ -454,9 +465,9 @@ Here is the caller graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00108">108</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00122">122</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>.</p>
 
 <p><div class="dynheader">
 Here is the caller graph for this function:</div>
@@ -502,7 +513,7 @@ Here is the caller graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00013">13</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>References <a class="el" href="tabletop__object__detection_8h_source.html#l00166">initialized</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 <p><div class="dynheader">
 Here is the call graph for this function:</div>
@@ -535,9 +546,9 @@ Here is the call graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00021">21</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00022">22</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>References <a class="el" href="tabletop__object__detection_8h_source.html#l00166">initialized</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 <p><div class="dynheader">
 Here is the call graph for this function:</div>
@@ -588,9 +599,9 @@ Here is the call graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00305">305</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00325">325</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00079">addSupervoxelConnectionsToViewer()</a>.</p>
+<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00093">addSupervoxelConnectionsToViewer()</a>.</p>
 
 <p><div class="dynheader">
 Here is the call graph for this function:</div>
@@ -623,9 +634,9 @@ Here is the call graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00351">351</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00371">371</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
-<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00079">addSupervoxelConnectionsToViewer()</a>.</p>
+<p>References <a class="el" href="tabletop__object__detection_8cpp_source.html#l00093">addSupervoxelConnectionsToViewer()</a>.</p>
 
 <p><div class="dynheader">
 Here is the call graph for this function:</div>
@@ -658,7 +669,7 @@ Here is the call graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00388">388</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00408">408</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
 </div>
 </div>
@@ -682,7 +693,7 @@ Here is the call graph for this function:</div>
   </dd>
 </dl>
 
-<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00414">414</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tabletop__object__detection_8cpp_source.html#l00434">434</a> of file <a class="el" href="tabletop__object__detection_8cpp_source.html">tabletop_object_detection.cpp</a>.</p>
 
 </div>
 </div>
@@ -708,7 +719,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00097">97</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -733,7 +744,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00098">98</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -758,7 +769,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00099">99</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -783,7 +794,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00100">100</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -808,7 +819,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00101">101</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -833,7 +844,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00102">102</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -858,7 +869,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00105">105</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -883,7 +894,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00106">106</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -908,7 +919,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00107">107</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -933,7 +944,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00108">108</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -958,7 +969,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00109">109</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -983,7 +994,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00112">112</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1008,7 +1019,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00113">113</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1033,7 +1044,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00114">114</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1058,7 +1069,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00146">146</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1083,7 +1094,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00147">147</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1108,7 +1119,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00148">148</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1133,7 +1144,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00149">149</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1158,7 +1169,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00150">150</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1183,7 +1194,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00151">151</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1208,7 +1219,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00154">154</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1233,7 +1244,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00155">155</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1258,7 +1269,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00156">156</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1283,7 +1294,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00157">157</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1308,7 +1319,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00158">158</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1333,7 +1344,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00161">161</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1358,7 +1369,7 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00162">162</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -1383,7 +1394,32 @@ Here is the call graph for this function:</div>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00163">163</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00450">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00198">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00052">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00470">print_parameters()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00066">set_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">set_parameters()</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="a2bc1fa0f283211f16eef9cfe8656ecc9"></a>
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool TableTop_Object_Detection::initialized</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>boolean variable to keep track if the class has been initialized </p>
+
+<p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00166">166</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
+
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00013">init()</a>, <a class="el" href="tabletop__object__detection_8cpp_source.html#l00212">segment()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00003">TableTop_Object_Detection()</a>.</p>
 
 </div>
 </div>
@@ -1394,7 +1430,7 @@ Here is the call graph for this function:</div>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/classes.html b/trunk/doc/html/classes.html
index b88874b..ec105b4 100644
--- a/trunk/doc/html/classes.html
+++ b/trunk/doc/html/classes.html
@@ -61,7 +61,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/trunk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html
index 002cec2..c66a4a0 100644
--- a/trunk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html
+++ b/trunk/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html
@@ -60,7 +60,7 @@ Files</h2></td></tr>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/dir_e931c1a3f0014e624d0645a271726ad2.html b/trunk/doc/html/dir_e931c1a3f0014e624d0645a271726ad2.html
index 22d482d..8ef8c72 100644
--- a/trunk/doc/html/dir_e931c1a3f0014e624d0645a271726ad2.html
+++ b/trunk/doc/html/dir_e931c1a3f0014e624d0645a271726ad2.html
@@ -53,7 +53,7 @@ Files</h2></td></tr>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/examples.html b/trunk/doc/html/examples.html
index 80ff22d..99243e9 100644
--- a/trunk/doc/html/examples.html
+++ b/trunk/doc/html/examples.html
@@ -47,7 +47,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/files.html b/trunk/doc/html/files.html
index ed1ec6f..c69e80d 100644
--- a/trunk/doc/html/files.html
+++ b/trunk/doc/html/files.html
@@ -57,7 +57,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/functions.html b/trunk/doc/html/functions.html
index 017b039..1f7284a 100644
--- a/trunk/doc/html/functions.html
+++ b/trunk/doc/html/functions.html
@@ -58,6 +58,7 @@
       <li><a href="#index_m"><span>m</span></a></li>
       <li><a href="#index_n"><span>n</span></a></li>
       <li><a href="#index_p"><span>p</span></a></li>
+      <li><a href="#index_r"><span>r</span></a></li>
       <li><a href="#index_s"><span>s</span></a></li>
       <li><a href="#index_t"><span>t</span></a></li>
       <li><a href="#index_u"><span>u</span></a></li>
@@ -118,6 +119,9 @@
 <li>get_default_parameters()
 : <a class="el" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection</a>
 </li>
+<li>get_input_cloud()
+: <a class="el" href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">TableTop_Object_Detection</a>
+</li>
 <li>get_labeled_voxel_cloud()
 : <a class="el" href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection</a>
 </li>
@@ -143,6 +147,9 @@
 <li>init()
 : <a class="el" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection</a>
 </li>
+<li>initialized
+: <a class="el" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">TableTop_Object_Detection</a>
+</li>
 </ul>
 
 
@@ -179,15 +186,20 @@
 </ul>
 
 
-<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
-<li>seed_resolution
-: <a class="el" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection</a>
+<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
+<li>reset()
+: <a class="el" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection</a>
 </li>
+</ul>
+
+
+<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
 <li>SEED_RESOLUTION
 : <a class="el" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">TableTop_Object_Detection</a>
 </li>
 <li>seed_resolution
-: <a class="el" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters</a>
 </li>
 <li>segment()
 : <a class="el" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection</a>
@@ -204,14 +216,12 @@
 <li>show_super_voxels()
 : <a class="el" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection</a>
 </li>
-<li>smoothness_threshold
-: <a class="el" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection</a>
-</li>
 <li>SMOOTHNESS_THRESHOLD
 : <a class="el" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">TableTop_Object_Detection</a>
 </li>
 <li>smoothness_threshold
-: <a class="el" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters</a>
 </li>
 <li>SPATIAL_IMPORTANCE
 : <a class="el" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">TableTop_Object_Detection</a>
@@ -227,12 +237,14 @@
 <li>TableTop_Object_Detection()
 : <a class="el" href="classTableTop__Object__Detection.html#aae7c3acdedfe90a1a78d4ba019d53939">TableTop_Object_Detection</a>
 </li>
+<li>th_points
+: <a class="el" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection</a>
+</li>
 <li>TH_POINTS
 : <a class="el" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TableTop_Object_Detection</a>
 </li>
 <li>th_points
-: <a class="el" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection</a>
-, <a class="el" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">tableTop_object_detection_parameters</a>
+: <a class="el" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 
@@ -260,34 +272,32 @@
 
 
 <h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
+<li>voxel_resolution
+: <a class="el" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection</a>
+</li>
 <li>VOXEL_RESOLUTION
 : <a class="el" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">TableTop_Object_Detection</a>
 </li>
 <li>voxel_resolution
-: <a class="el" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection</a>
-, <a class="el" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters</a>
+: <a class="el" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 
 
 <h3><a class="anchor" id="index_z"></a>- z -</h3><ul>
-<li>zmax
-: <a class="el" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection</a>
-</li>
 <li>ZMAX
 : <a class="el" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">TableTop_Object_Detection</a>
 </li>
 <li>zmax
-: <a class="el" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters</a>
-</li>
-<li>zmin
-: <a class="el" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters</a>
 </li>
 <li>ZMIN
 : <a class="el" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">TableTop_Object_Detection</a>
 </li>
 <li>zmin
-: <a class="el" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 
@@ -300,7 +310,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/functions_func.html b/trunk/doc/html/functions_func.html
index e463eed..7356ccb 100644
--- a/trunk/doc/html/functions_func.html
+++ b/trunk/doc/html/functions_func.html
@@ -63,6 +63,9 @@
 <li>get_default_parameters()
 : <a class="el" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection</a>
 </li>
+<li>get_input_cloud()
+: <a class="el" href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">TableTop_Object_Detection</a>
+</li>
 <li>get_labeled_voxel_cloud()
 : <a class="el" href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection</a>
 </li>
@@ -87,6 +90,9 @@
 <li>print_parameters()
 : <a class="el" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection</a>
 </li>
+<li>reset()
+: <a class="el" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection</a>
+</li>
 <li>segment()
 : <a class="el" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection</a>
 </li>
@@ -112,7 +118,7 @@
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/functions_vars.html b/trunk/doc/html/functions_vars.html
index 3aff347..1427fd1 100644
--- a/trunk/doc/html/functions_vars.html
+++ b/trunk/doc/html/functions_vars.html
@@ -52,6 +52,7 @@
     <ul class="tablist">
       <li><a href="#index_c"><span>c</span></a></li>
       <li><a href="#index_d"><span>d</span></a></li>
+      <li><a href="#index_i"><span>i</span></a></li>
       <li><a href="#index_m"><span>m</span></a></li>
       <li><a href="#index_n"><span>n</span></a></li>
       <li><a href="#index_s"><span>s</span></a></li>
@@ -98,6 +99,13 @@
 </ul>
 
 
+<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
+<li>initialized
+: <a class="el" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">TableTop_Object_Detection</a>
+</li>
+</ul>
+
+
 <h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
 <li>min_segment_size
 : <a class="el" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">TableTop_Object_Detection</a>
@@ -125,23 +133,19 @@
 
 
 <h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
-<li>seed_resolution
-: <a class="el" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection</a>
-</li>
 <li>SEED_RESOLUTION
 : <a class="el" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">TableTop_Object_Detection</a>
 </li>
 <li>seed_resolution
-: <a class="el" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters</a>
-</li>
-<li>smoothness_threshold
-: <a class="el" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters</a>
 </li>
 <li>SMOOTHNESS_THRESHOLD
 : <a class="el" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">TableTop_Object_Detection</a>
 </li>
 <li>smoothness_threshold
-: <a class="el" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters</a>
 </li>
 <li>SPATIAL_IMPORTANCE
 : <a class="el" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">TableTop_Object_Detection</a>
@@ -154,14 +158,12 @@
 
 
 <h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
-<li>th_points
-: <a class="el" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection</a>
-</li>
 <li>TH_POINTS
 : <a class="el" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TableTop_Object_Detection</a>
 </li>
 <li>th_points
-: <a class="el" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 
@@ -189,40 +191,38 @@
 
 
 <h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
+<li>voxel_resolution
+: <a class="el" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection</a>
+</li>
 <li>VOXEL_RESOLUTION
 : <a class="el" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">TableTop_Object_Detection</a>
 </li>
 <li>voxel_resolution
-: <a class="el" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection</a>
-, <a class="el" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters</a>
+: <a class="el" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 
 
 <h3><a class="anchor" id="index_z"></a>- z -</h3><ul>
-<li>zmax
-: <a class="el" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection</a>
-</li>
 <li>ZMAX
 : <a class="el" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">TableTop_Object_Detection</a>
 </li>
 <li>zmax
-: <a class="el" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters</a>
-</li>
-<li>zmin
-: <a class="el" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters</a>
 </li>
 <li>ZMIN
 : <a class="el" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">TableTop_Object_Detection</a>
 </li>
 <li>zmin
-: <a class="el" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters</a>
+: <a class="el" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection</a>
+, <a class="el" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters</a>
 </li>
 </ul>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/graph_legend.html b/trunk/doc/html/graph_legend.html
index 60abe64..264ca01 100644
--- a/trunk/doc/html/graph_legend.html
+++ b/trunk/doc/html/graph_legend.html
@@ -107,7 +107,7 @@ A yellow dashed arrow denotes a relation between a template instance and the tem
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/index.html b/trunk/doc/html/index.html
index 970b759..8c5adbc 100644
--- a/trunk/doc/html/index.html
+++ b/trunk/doc/html/index.html
@@ -123,7 +123,7 @@ Disclaimer</h1>
 </div></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/structObject.html b/trunk/doc/html/structObject.html
index 7dfb67a..3ddb766 100644
--- a/trunk/doc/html/structObject.html
+++ b/trunk/doc/html/structObject.html
@@ -69,7 +69,7 @@ int&#160;</td><td class="memItemRight" valign="bottom"><b>label</b></td></tr>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/structtableTop__object__detection__parameters.html b/trunk/doc/html/structtableTop__object__detection__parameters.html
index 0c66b07..71cff5e 100644
--- a/trunk/doc/html/structtableTop__object__detection__parameters.html
+++ b/trunk/doc/html/structtableTop__object__detection__parameters.html
@@ -98,7 +98,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00048">48</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -115,7 +115,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00049">49</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -132,7 +132,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00050">50</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -149,7 +149,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00051">51</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -166,7 +166,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00052">52</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -183,7 +183,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00053">53</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -200,7 +200,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00056">56</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -217,7 +217,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00057">57</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -234,7 +234,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00058">58</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -251,7 +251,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00059">59</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -268,7 +268,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00060">60</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -285,7 +285,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00063">63</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -302,7 +302,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00064">64</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -319,7 +319,7 @@ Data Fields</h2></td></tr>
 
 <p>Definition at line <a class="el" href="tabletop__object__detection_8h_source.html#l00065">65</a> of file <a class="el" href="tabletop__object__detection_8h_source.html">tabletop_object_detection.h</a>.</p>
 
-<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00170">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00028">TableTop_Object_Detection::set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tabletop__object__detection_8cpp_source.html#l00184">TableTop_Object_Detection::get_default_parameters()</a>, and <a class="el" href="tabletop__object__detection_8cpp_source.html#l00042">TableTop_Object_Detection::set_parameters()</a>.</p>
 
 </div>
 </div>
@@ -329,7 +329,7 @@ Data Fields</h2></td></tr>
 </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/tableTop_object_segmentation_test_8cpp-example.html b/trunk/doc/html/tableTop_object_segmentation_test_8cpp-example.html
index 4606927..f6355ac 100644
--- a/trunk/doc/html/tableTop_object_segmentation_test_8cpp-example.html
+++ b/trunk/doc/html/tableTop_object_segmentation_test_8cpp-example.html
@@ -51,7 +51,7 @@
 <div class="fragment"></div><!-- fragment --> </div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>
-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:55 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
 <img class="footer" src="doxygen.png" alt="doxygen"/>
 </a> 1.8.6
 </small></address>
diff --git a/trunk/doc/html/tabletop__object__detection_8cpp_source.html b/trunk/doc/html/tabletop__object__detection_8cpp_source.html
index caff9d0..8f5e3dc 100644
--- a/trunk/doc/html/tabletop__object__detection_8cpp_source.html
+++ b/trunk/doc/html/tabletop__object__detection_8cpp_source.html
@@ -53,606 +53,631 @@
 <div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div>
 <div class="line"><a name="l00003"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#aae7c3acdedfe90a1a78d4ba019d53939">    3</a></span>&#160;<a class="code" href="classTableTop__Object__Detection.html#aae7c3acdedfe90a1a78d4ba019d53939">TableTop_Object_Detection::TableTop_Object_Detection</a>()</div>
 <div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;{</div>
-<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;</div>
+<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">initialized</a> = <span class="keyword">false</span>;</div>
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 <div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;{</div>
-<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div>
+<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;  </div>
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 <div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
 <div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection::init</a>(pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; input_cloud,</div>
 <div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;              <a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> &amp;opt)</div>
 <div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
 <div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  this-&gt;cloud = input_cloud.makeShared();</div>
-<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  this-&gt;filt_objs.resize(0);</div>
+<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  this-&gt;detected_objects.resize(0);</div>
 <div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">set_parameters</a>(opt);</div>
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-<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;{</div>
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-<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  this-&gt;filt_objs.resize(0);</div>
-<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">set_default_parameters</a>();</div>
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-<div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">   28</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">TableTop_Object_Detection::set_parameters</a>(<a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> &amp; opt)</div>
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-<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">voxel_resolution</a>;</div>
-<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">seed_resolution</a>;</div>
-<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">color_importance</a>;</div>
-<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">spatial_importance</a>;</div>
-<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">normal_importance</a>;</div>
-<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div>
-<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
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-<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">smoothness_threshold</a>;</div>
-<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">min_segment_size</a>; </div>
-<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">use_extended_convexity</a>;</div>
-<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">use_sanity_criterion</a>;</div>
+<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">initialized</a> = <span class="keyword">true</span>;</div>
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+<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
+<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a52028dcd2c15d9609ca4f5c0419c3e14">   22</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection::init</a>(pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; input_cloud)</div>
+<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div>
+<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  this-&gt;cloud = input_cloud.makeShared();</div>
+<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  this-&gt;detected_objects.resize(0);</div>
+<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">set_default_parameters</a>();</div>
+<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">initialized</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;} </div>
+<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div>
+<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">   30</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection::reset</a>()</div>
+<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div>
+<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  this-&gt;cloud-&gt;points.resize(0);</div>
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+<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  this-&gt;lccp_labeled_cloud-&gt;points.resize(0);</div>
+<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;  this-&gt;labeled_voxel_cloud-&gt;points.resize(0);</div>
+<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  this-&gt;sv_normal_cloud-&gt;points.resize(0);</div>
+<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  this-&gt;supervoxel_clusters.clear();</div>
+<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  this-&gt;supervoxel_adjacency.clear();</div>
+<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">set_default_parameters</a>();</div>
+<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;}</div>
+<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
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+<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
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-<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div>
-<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;}</div>
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+<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">voxel_resolution</a>;</div>
+<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">seed_resolution</a>;</div>
+<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">color_importance</a>;</div>
+<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">spatial_importance</a>;</div>
+<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">normal_importance</a>;</div>
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-<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">   52</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a>()</div>
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-<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">VOXEL_RESOLUTION</a>;</div>
-<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">SEED_RESOLUTION</a>;</div>
-<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">COLOR_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">SPATIAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">NORMAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div>
-<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
-<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
-<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">SMOOTHNESS_THRESHOLD</a>;</div>
-<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">MIN_SEGMENT_SIZE</a>; </div>
-<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">USE_EXTENDED_CONVEXITY</a>;</div>
-<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">USE_SANITY_CRITERION</a>;</div>
-<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div>
-<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">ZMIN</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">ZMAX</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div>
-<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TH_POINTS</a>;</div>
-<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
-<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#af9edebad24574492fb986884155cecd3">concavity_tolerance_threshold</a>;</div>
+<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">smoothness_threshold</a>;</div>
+<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">min_segment_size</a>; </div>
+<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">use_extended_convexity</a>;</div>
+<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">use_sanity_criterion</a>;</div>
+<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div>
+<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">zmin</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">zmax</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
+<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> = opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">th_points</a>;</div>
+<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div>
+<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;}</div>
+<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div>
+<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">   66</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a>()</div>
+<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
+<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">DISABLE_TRANSFORM</a>;</div>
+<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">VOXEL_RESOLUTION</a>;</div>
+<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">SEED_RESOLUTION</a>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">COLOR_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">SPATIAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">NORMAL_IMPORTANCE</a>;</div>
 <div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div>
-<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
-<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
-<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div>
-<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keywordtype">void</span></div>
-<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">   79</a></span>&#160;<a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a> (pcl::PointXYZRGBA &amp;supervoxel_center,</div>
-<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;&amp; adjacent_supervoxel_centers,</div>
-<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                                  std::string supervoxel_name,</div>
-<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                                  boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
-<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
-<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  vtkSmartPointer&lt;vtkPoints&gt; points = vtkSmartPointer&lt;vtkPoints&gt;::New ();</div>
-<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  vtkSmartPointer&lt;vtkCellArray&gt; cells = vtkSmartPointer&lt;vtkCellArray&gt;::New ();</div>
-<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  vtkSmartPointer&lt;vtkPolyLine&gt; polyLine = vtkSmartPointer&lt;vtkPolyLine&gt;::New ();</div>
-<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div>
-<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">//Iterate through all adjacent points, and add a center point to adjacent point pair</span></div>
-<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::iterator adjacent_itr = adjacent_supervoxel_centers.begin ();</div>
-<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)</div>
-<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  {</div>
-<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    points-&gt;InsertNextPoint (supervoxel_center.data);</div>
-<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    points-&gt;InsertNextPoint (adjacent_itr-&gt;data);</div>
-<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
-<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="comment">// Create a polydata to store everything in</span></div>
-<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  vtkSmartPointer&lt;vtkPolyData&gt; polyData = vtkSmartPointer&lt;vtkPolyData&gt;::New ();</div>
-<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">// Add the points to the dataset</span></div>
-<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  polyData-&gt;SetPoints (points);</div>
-<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  polyLine-&gt;GetPointIds  ()-&gt;SetNumberOfIds(points-&gt;GetNumberOfPoints ());</div>
-<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; points-&gt;GetNumberOfPoints (); i++)</div>
-<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    polyLine-&gt;GetPointIds ()-&gt;SetId (i,i);</div>
-<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  cells-&gt;InsertNextCell (polyLine);</div>
-<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// Add the lines to the dataset</span></div>
-<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  polyData-&gt;SetLines (cells);</div>
-<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  viewer-&gt;addModelFromPolyData (polyData,supervoxel_name);</div>
-<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;}</div>
-<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div>
-<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">  108</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a>(pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr cloud, <span class="keywordtype">double</span> zmin, <span class="keywordtype">double</span> zmax, pcl::PointIndices::Ptr objectIndices, <span class="keywordtype">bool</span> filter_input_cloud)</div>
-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;{</div>
-<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">// Objects for storing the point clouds.</span></div>
-<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr plane(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;);</div>
-<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr convexHull(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;);</div>
-<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
-<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// Get the plane model, if present.</span></div>
-<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  pcl::ModelCoefficients::Ptr coefficients(<span class="keyword">new</span> pcl::ModelCoefficients);</div>
-<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  pcl::SACSegmentation&lt;pcl::PointXYZRGBA&gt; segmentation;</div>
-<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  segmentation.setInputCloud(cloud);</div>
-<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  segmentation.setModelType(pcl::SACMODEL_PLANE);</div>
-<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  segmentation.setMethodType(pcl::SAC_RANSAC);</div>
-<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  segmentation.setDistanceThreshold(0.01);</div>
-<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  segmentation.setOptimizeCoefficients(<span class="keyword">true</span>);</div>
-<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  pcl::PointIndices::Ptr planeIndices(<span class="keyword">new</span> pcl::PointIndices);</div>
-<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  segmentation.segment(*planeIndices, *coefficients);</div>
-<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div>
-<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> (planeIndices-&gt;indices.size() == 0)</div>
-<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Could not find a plane in the scene.&quot;</span> &lt;&lt; std::endl;</div>
-<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  {</div>
-<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">// Copy the points of the plane to a new cloud.</span></div>
-<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    pcl::ExtractIndices&lt;pcl::PointXYZRGBA&gt; extract;</div>
-<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    extract.setInputCloud(cloud);</div>
-<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    extract.setIndices(planeIndices);</div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    extract.filter(*plane);</div>
-<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
-<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="comment">// Retrieve the convex hull.</span></div>
-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    pcl::ConvexHull&lt;pcl::PointXYZRGBA&gt; hull;</div>
-<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    hull.setInputCloud(plane);</div>
-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="comment">// Make sure that the resulting hull is bidimensional.</span></div>
-<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    hull.setDimension(2); <span class="comment">//2dimension -&gt; planar convex hull</span></div>
-<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    hull.reconstruct(*convexHull);</div>
-<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
-<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">// Redundant check.</span></div>
-<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">if</span> (hull.getDimension() == 2)</div>
-<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="comment">// Prism object.</span></div>
-<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      pcl::ExtractPolygonalPrismData&lt;pcl::PointXYZRGBA&gt; prism;</div>
-<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      prism.setInputCloud(cloud);</div>
-<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      prism.setInputPlanarHull(convexHull);</div>
-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="comment">// First parameter: minimum Z value. Set to 0, segments objects lying on the plane (can be negative).</span></div>
-<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="comment">// Second parameter: maximum Z value[meters], set to 10cm. Tune it according to the height of the objects you expect.</span></div>
-<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      prism.setHeightLimits(zmin, zmax);</div>
-<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
-<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">//std::cout &lt;&lt; &quot;size of objectIndices before segmentation: &quot; &lt;&lt; objectIndices.indices.size() &lt;&lt; std::endl;</span></div>
-<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">//pcl::PointIndices::Ptr objectIndices(new pcl::PointIndices);</span></div>
-<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      prism.segment(*objectIndices);</div>
-<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="comment">//std::cout &lt;&lt; &quot;size of objectIndices AFTER segmentation: &quot; &lt;&lt; objectIndices.indices.size() &lt;&lt; std::endl;</span></div>
-<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
-<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="comment">// Get and show all points retrieved by the hull.</span></div>
-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      extract.setIndices(objectIndices);</div>
-<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      </div>
-<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span>(filter_input_cloud)</div>
-<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        extract.filter(*cloud);</div>
-<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
-<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    }</div>
-<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">else</span> std::cout &lt;&lt; <span class="stringliteral">&quot;The chosen hull is not planar.&quot;</span> &lt;&lt; std::endl;</div>
-<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div>
-<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
-<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div>
-<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a></div>
-<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">  170</a></span>&#160;<a class="code" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a>()</div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;{</div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div>
-<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> opt;</div>
-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div>
-<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ad839812934dce3dc30bfce50a6c7979b">disable_transform</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">DISABLE_TRANSFORM</a>;</div>
-<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">voxel_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">VOXEL_RESOLUTION</a>;</div>
-<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">seed_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">SEED_RESOLUTION</a>;</div>
-<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">color_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">COLOR_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">spatial_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">SPATIAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">normal_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">NORMAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div>
-<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
-<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#af9edebad24574492fb986884155cecd3">concavity_tolerance_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
-<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">smoothness_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">SMOOTHNESS_THRESHOLD</a>;</div>
-<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">min_segment_size</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">MIN_SEGMENT_SIZE</a>; </div>
-<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">use_extended_convexity</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">USE_EXTENDED_CONVEXITY</a>;</div>
-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">use_sanity_criterion</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">USE_SANITY_CRITERION</a>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">SMOOTHNESS_THRESHOLD</a>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">MIN_SEGMENT_SIZE</a>; </div>
+<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">USE_EXTENDED_CONVEXITY</a>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">USE_SANITY_CRITERION</a>;</div>
+<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div>
+<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">ZMIN</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">ZMAX</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div>
+<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TH_POINTS</a>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div>
+<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div>
+<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;}</div>
+<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div>
+<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div>
+<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keywordtype">void</span></div>
+<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">   93</a></span>&#160;<a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a> (pcl::PointXYZRGBA &amp;supervoxel_center,</div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;&amp; adjacent_supervoxel_centers,</div>
+<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                  std::string supervoxel_name,</div>
+<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                  boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
+<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div>
+<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  vtkSmartPointer&lt;vtkPoints&gt; points = vtkSmartPointer&lt;vtkPoints&gt;::New ();</div>
+<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  vtkSmartPointer&lt;vtkCellArray&gt; cells = vtkSmartPointer&lt;vtkCellArray&gt;::New ();</div>
+<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  vtkSmartPointer&lt;vtkPolyLine&gt; polyLine = vtkSmartPointer&lt;vtkPolyLine&gt;::New ();</div>
+<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div>
+<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">//Iterate through all adjacent points, and add a center point to adjacent point pair</span></div>
+<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::iterator adjacent_itr = adjacent_supervoxel_centers.begin ();</div>
+<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">for</span> ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)</div>
+<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
+<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    points-&gt;InsertNextPoint (supervoxel_center.data);</div>
+<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    points-&gt;InsertNextPoint (adjacent_itr-&gt;data);</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  }</div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="comment">// Create a polydata to store everything in</span></div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  vtkSmartPointer&lt;vtkPolyData&gt; polyData = vtkSmartPointer&lt;vtkPolyData&gt;::New ();</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// Add the points to the dataset</span></div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  polyData-&gt;SetPoints (points);</div>
+<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  polyLine-&gt;GetPointIds  ()-&gt;SetNumberOfIds(points-&gt;GetNumberOfPoints ());</div>
+<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; points-&gt;GetNumberOfPoints (); i++)</div>
+<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    polyLine-&gt;GetPointIds ()-&gt;SetId (i,i);</div>
+<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  cells-&gt;InsertNextCell (polyLine);</div>
+<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// Add the lines to the dataset</span></div>
+<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  polyData-&gt;SetLines (cells);</div>
+<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  viewer-&gt;addModelFromPolyData (polyData,supervoxel_name);</div>
+<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;}</div>
+<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div>
+<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">  122</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a>(pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr cloud, <span class="keywordtype">double</span> zmin, <span class="keywordtype">double</span> zmax, pcl::PointIndices::Ptr objectIndices, <span class="keywordtype">bool</span> filter_input_cloud)</div>
+<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="comment">// Objects for storing the point clouds.</span></div>
+<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr plane(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;);</div>
+<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr convexHull(<span class="keyword">new</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;);</div>
+<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
+<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="comment">// Get the plane model, if present.</span></div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  pcl::ModelCoefficients::Ptr coefficients(<span class="keyword">new</span> pcl::ModelCoefficients);</div>
+<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  pcl::SACSegmentation&lt;pcl::PointXYZRGBA&gt; segmentation;</div>
+<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  segmentation.setInputCloud(cloud);</div>
+<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  segmentation.setModelType(pcl::SACMODEL_PLANE);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  segmentation.setMethodType(pcl::SAC_RANSAC);</div>
+<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  segmentation.setDistanceThreshold(0.01);</div>
+<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  segmentation.setOptimizeCoefficients(<span class="keyword">true</span>);</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  pcl::PointIndices::Ptr planeIndices(<span class="keyword">new</span> pcl::PointIndices);</div>
+<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  segmentation.segment(*planeIndices, *coefficients);</div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordflow">if</span> (planeIndices-&gt;indices.size() == 0)</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Could not find a plane in the scene.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  {</div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">// Copy the points of the plane to a new cloud.</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    pcl::ExtractIndices&lt;pcl::PointXYZRGBA&gt; extract;</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    extract.setInputCloud(cloud);</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    extract.setIndices(planeIndices);</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    extract.filter(*plane);</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// Retrieve the convex hull.</span></div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    pcl::ConvexHull&lt;pcl::PointXYZRGBA&gt; hull;</div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    hull.setInputCloud(plane);</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="comment">// Make sure that the resulting hull is bidimensional.</span></div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    hull.setDimension(2); <span class="comment">//2dimension -&gt; planar convex hull</span></div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    hull.reconstruct(*convexHull);</div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">// Redundant check.</span></div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">if</span> (hull.getDimension() == 2)</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="comment">// Prism object.</span></div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      pcl::ExtractPolygonalPrismData&lt;pcl::PointXYZRGBA&gt; prism;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      prism.setInputCloud(cloud);</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      prism.setInputPlanarHull(convexHull);</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="comment">// First parameter: minimum Z value. Set to 0, segments objects lying on the plane (can be negative).</span></div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="comment">// Second parameter: maximum Z value[meters], set to 10cm. Tune it according to the height of the objects you expect.</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      prism.setHeightLimits(zmin, zmax);</div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">//std::cout &lt;&lt; &quot;size of objectIndices before segmentation: &quot; &lt;&lt; objectIndices.indices.size() &lt;&lt; std::endl;</span></div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="comment">//pcl::PointIndices::Ptr objectIndices(new pcl::PointIndices);</span></div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      prism.segment(*objectIndices);</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="comment">//std::cout &lt;&lt; &quot;size of objectIndices AFTER segmentation: &quot; &lt;&lt; objectIndices.indices.size() &lt;&lt; std::endl;</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="comment">// Get and show all points retrieved by the hull.</span></div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      extract.setIndices(objectIndices);</div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      </div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordflow">if</span>(filter_input_cloud)</div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        extract.filter(*cloud);</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    }</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">else</span> std::cout &lt;&lt; <span class="stringliteral">&quot;The chosen hull is not planar.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a></div>
+<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">  184</a></span>&#160;<a class="code" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a>()</div>
+<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;{</div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> opt;</div>
 <div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;</div>
-<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">zmin</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">ZMIN</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">zmax</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">ZMAX</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div>
-<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">th_points</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TH_POINTS</a>;</div>
-<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div>
-<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordflow">return</span> opt;</div>
-<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
-<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div>
-<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div>
-<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">  198</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a>()</div>
-<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;{</div>
-<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <span class="comment">//float t_ini = cv::getTickCount();</span></div>
-<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div>
-<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  pcl::PointIndices::Ptr obj_idx (<span class="keyword">new</span> pcl::PointIndices());</div>
-<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">detectObjectsOnTable</a>(this-&gt;cloud, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> , obj_idx, <span class="keyword">true</span>);</div>
-<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="comment">//float elapsed_time_plane = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ad839812934dce3dc30bfce50a6c7979b">disable_transform</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">DISABLE_TRANSFORM</a>;</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">voxel_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#afeb688c9dd5d7aee6a088da541e55014">VOXEL_RESOLUTION</a>;</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">seed_resolution</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">SEED_RESOLUTION</a>;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">color_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">COLOR_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">spatial_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">SPATIAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">normal_importance</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">NORMAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#af9edebad24574492fb986884155cecd3">concavity_tolerance_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">smoothness_threshold</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">SMOOTHNESS_THRESHOLD</a>;</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">min_segment_size</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">MIN_SEGMENT_SIZE</a>; </div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">use_extended_convexity</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">USE_EXTENDED_CONVEXITY</a>;</div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">use_sanity_criterion</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">USE_SANITY_CRITERION</a>;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">zmin</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">ZMIN</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">zmax</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">ZMAX</a>;<span class="comment">//meters</span></div>
 <div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div>
-<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordflow">if</span>(this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> &lt; 0.013)</div>
-<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    pcl::console::print_warn(<span class="stringliteral">&quot;[TableTop_Object_Detection] seed resolution very low, the segmentation could be fragmented.&quot;</span>);</div>
-<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div>
-<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  pcl::SupervoxelClustering&lt;pcl::PointXYZRGBA&gt; super (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a>);</div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  opt.<a class="code" href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">th_points</a> = this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TH_POINTS</a>;</div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  <span class="keywordflow">return</span> opt;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;}</div>
 <div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div>
-<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  super.setInputCloud (this-&gt;cloud);</div>
-<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div>
-<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">//super.setNormalCloud (input_normals);</span></div>
-<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  super.setColorImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a>);</div>
-<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  super.setSpatialImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a>);</div>
-<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  super.setNormalImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a>);</div>
-<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
-<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  super.extract (supervoxel_clusters);</div>
-<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
-<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();</div>
-<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);</div>
-<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr full_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  </div>
-<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  super.getSupervoxelAdjacency (supervoxel_adjacency);</div>
-<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;   </div>
-<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  std::map &lt;uint32_t, pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr &gt; refined_supervoxel_clusters;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div>
+<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">  212</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a>()</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;{</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">//float t_ini = cv::getTickCount();</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span>(!this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">initialized</a>)</div>
+<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    pcl::console::print_error(<span class="stringliteral">&quot;[TableTop_Object_Detection] No valid input cloud given to the algorithm. The class has not beed initialized.&quot;</span>);</div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  pcl::PointIndices::Ptr obj_idx (<span class="keyword">new</span> pcl::PointIndices());</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">detectObjectsOnTable</a>(this-&gt;cloud, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> , obj_idx, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="comment">//float elapsed_time_plane = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">if</span>(this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> &lt; 0.013)</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    pcl::console::print_warn(<span class="stringliteral">&quot;[TableTop_Object_Detection] seed resolution very low, the segmentation could be fragmented.&quot;</span>);</div>
 <div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div>
-<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="comment">// NO REFINEMENT!!</span></div>
-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="comment">//super.refineSupervoxels (3, refined_supervoxel_clusters);</span></div>
-<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
-<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
-<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr refined_sv_normal_cloud = super.makeSupervoxelNormalCloud (refined_supervoxel_clusters);</div>
-<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  </div>
-<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keyword">typedef</span> boost::adjacency_list&lt;boost::setS, boost::setS, boost::undirectedS, uint32_t, float&gt; VoxelAdjacencyList;</div>
-<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  VoxelAdjacencyList supervoxel_adjacency_list;</div>
-<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);</div>
-<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  </div>
-<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">// Segmentation Stuff</span></div>
-<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  </div>
-<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  uint k_factor = 0;</div>
-<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a>)</div>
-<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    k_factor = 1;</div>
-<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div>
-<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  pcl::LCCPSegmentation&lt;pcl::PointXYZRGBA&gt; lccp;</div>
-<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  lccp.setConcavityToleranceThreshold (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a>);</div>
-<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  lccp.setSanityCheck (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a>);</div>
-<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  lccp.setSmoothnessCheck (<span class="keyword">true</span>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a>);</div>
-<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  lccp.setKFactor (k_factor);</div>
-<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  lccp.setInputSupervoxels (this-&gt;supervoxel_clusters, this-&gt;supervoxel_adjacency);</div>
-<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  lccp.setMinSegmentSize (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a>);</div>
-<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  lccp.segment ();</div>
-<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;</div>
-<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr sv_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  lccp_labeled_cloud = sv_labeled_cloud-&gt;makeShared ();</div>
-<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  lccp.relabelCloud (*lccp_labeled_cloud);</div>
-<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;size lccp_labeled_cloud: &quot;&lt;&lt;lccp_labeled_cloud-&gt;points.size() &lt;&lt; &quot;\n&quot;;</span></div>
-<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="comment">//---------------------------------------------------------------------------------------------</span></div>
-<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;</div>
-<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="comment">//float elapsed_time_seg = (cv::getTickCount()-t_ini)/cv::getTickFrequency() - elapsed_time_plane;</span></div>
-<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div>
-<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="comment">//------------------------------ SEGMENTATION POST PROCESSING ---------------------------------</span></div>
-<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="comment">//construct for each segmented object the point cloud associated to that object</span></div>
-<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; lccp_labeled_cloud-&gt;points.size(); ++i)</div>
-<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
-<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    </div>
-<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    uint32_t idx = lccp_labeled_cloud-&gt;points.at(i).label;</div>
-<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div>
-<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="comment">//in this way we enlarges the vector everytime we encounter a greater label. So we don&#39;t need to pass all </span></div>
-<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="comment">// labeeld point cloud to see what is the greater label, and then to resize the vector. </span></div>
-<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordflow">if</span>(idx &gt;= filt_objs.size()) <span class="comment">// keep in mind that there is also the label 0! </span></div>
-<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      filt_objs.resize(idx+1);</div>
-<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        </div>
-<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    pcl::PointXYZRGBA tmp_point_rgb;</div>
-<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    tmp_point_rgb = cloud-&gt;points.at(i);</div>
-<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    filt_objs[idx].object_cloud.points.push_back(tmp_point_rgb);</div>
-<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div>
-<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    filt_objs[idx].label = (int)idx;</div>
-<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  } </div>
-<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;</div>
-<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="comment">//remove segments with too few points</span></div>
-<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="comment">// it will removes te ones with few points or the ones with no points (these are created because of the labels of lccp)</span></div>
-<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordtype">int</span> size = filt_objs.size();</div>
-<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordtype">int</span> i = 0;</div>
-<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keywordflow">while</span> (i &lt; size)</div>
-<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  {</div>
-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">if</span>(filt_objs[i].object_cloud.size() &lt; this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a>)</div>
-<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    {</div>
-<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      filt_objs.erase(filt_objs.begin() + i);</div>
-<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      size = filt_objs.size();</div>
-<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div>
-<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      i++;</div>
-<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  }</div>
-<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div>
-<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="comment">//float elapsed_time = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
-<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  </div>
-<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;elapsed_time (segmentation and postprocessing): &quot; &lt;&lt; elapsed_time &lt;&lt; &quot;\nelapsed_time of LCCP segmentation: &quot; &lt;&lt; elapsed_time_seg   &lt;&lt;  std::endl;</span></div>
-<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;elapsed_time plane estimation: &quot; &lt;&lt; elapsed_time_plane &lt;&lt; std::endl;</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  pcl::SupervoxelClustering&lt;pcl::PointXYZRGBA&gt; super (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a>);</div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  super.setInputCloud (this-&gt;cloud);</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="comment">//super.setNormalCloud (input_normals);</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div>
+<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  super.setColorImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a>);</div>
+<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  super.setSpatialImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a>);</div>
+<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  super.setNormalImportance (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a>);</div>
+<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
+<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  super.extract (supervoxel_clusters);</div>
+<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
+<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();</div>
+<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);</div>
+<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr full_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  </div>
+<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  super.getSupervoxelAdjacency (supervoxel_adjacency);</div>
+<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;   </div>
+<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  std::map &lt;uint32_t, pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr &gt; refined_supervoxel_clusters;</div>
+<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div>
+<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="comment">// NO REFINEMENT!!</span></div>
+<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="comment">//super.refineSupervoxels (3, refined_supervoxel_clusters);</span></div>
+<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div>
+<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
+<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr refined_sv_normal_cloud = super.makeSupervoxelNormalCloud (refined_supervoxel_clusters);</div>
+<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  </div>
+<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keyword">typedef</span> boost::adjacency_list&lt;boost::setS, boost::setS, boost::undirectedS, uint32_t, float&gt; VoxelAdjacencyList;</div>
+<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  VoxelAdjacencyList supervoxel_adjacency_list;</div>
+<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);</div>
+<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  </div>
+<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="comment">// Segmentation Stuff</span></div>
+<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  </div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  uint k_factor = 0;</div>
+<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a>)</div>
+<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    k_factor = 1;</div>
+<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div>
+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  pcl::LCCPSegmentation&lt;pcl::PointXYZRGBA&gt; lccp;</div>
+<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  lccp.setConcavityToleranceThreshold (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a>);</div>
+<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  lccp.setSanityCheck (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a>);</div>
+<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  lccp.setSmoothnessCheck (<span class="keyword">true</span>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a>, this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a>);</div>
+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  lccp.setKFactor (k_factor);</div>
+<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  lccp.setInputSupervoxels (this-&gt;supervoxel_clusters, this-&gt;supervoxel_adjacency);</div>
+<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  lccp.setMinSegmentSize (this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a>);</div>
+<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  lccp.segment ();</div>
+<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div>
+<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt;::Ptr sv_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  lccp_labeled_cloud = sv_labeled_cloud-&gt;makeShared ();</div>
+<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  lccp.relabelCloud (*lccp_labeled_cloud);</div>
+<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;size lccp_labeled_cloud: &quot;&lt;&lt;lccp_labeled_cloud-&gt;points.size() &lt;&lt; &quot;\n&quot;;</span></div>
+<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="comment">//---------------------------------------------------------------------------------------------</span></div>
+<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;</div>
+<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="comment">//float elapsed_time_seg = (cv::getTickCount()-t_ini)/cv::getTickFrequency() - elapsed_time_plane;</span></div>
+<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div>
+<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="comment">//------------------------------ SEGMENTATION POST PROCESSING ---------------------------------</span></div>
+<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="comment">//construct for each segmented object the point cloud associated to that object</span></div>
+<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; lccp_labeled_cloud-&gt;points.size(); ++i)</div>
+<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
+<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    </div>
+<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    uint32_t idx = lccp_labeled_cloud-&gt;points.at(i).label;</div>
+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div>
+<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="comment">//in this way we enlarges the vector everytime we encounter a greater label. So we don&#39;t need to pass all </span></div>
+<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="comment">// labeeld point cloud to see what is the greater label, and then to resize the vector. </span></div>
+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">if</span>(idx &gt;= detected_objects.size()) <span class="comment">// keep in mind that there is also the label 0! </span></div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      detected_objects.resize(idx+1);</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        </div>
+<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    pcl::PointXYZRGBA tmp_point_rgb;</div>
+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    tmp_point_rgb = cloud-&gt;points.at(i);</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    detected_objects[idx].object_cloud.points.push_back(tmp_point_rgb);</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    detected_objects[idx].label = (int)idx;</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  } </div>
 <div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;</div>
-<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;}</div>
-<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;</div>
-<div class="line"><a name="l00305"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">  305</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer,</div>
-<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                       <span class="keywordtype">bool</span> show_adjacency_map,</div>
-<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                       <span class="keywordtype">bool</span> show_super_voxel_normals)</div>
-<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;{</div>
-<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">if</span>(this-&gt;filt_objs.size() &gt; 0)</div>
-<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  {</div>
-<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    viewer-&gt;addPointCloud (this-&gt;labeled_voxel_cloud, <span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);</div>
-<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;</div>
-<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="comment">//pcl::visualization::PointCloudColorHandlerRGBField&lt;pcl::PointXYZRGBA&gt; rgb_cloud_obj(cloud);</span></div>
-<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="comment">//viewer-&gt;addPointCloud&lt;pcl::PointXYZRGBA&gt; (cloud, rgb_cloud_obj, &quot;maincloud&quot;);</span></div>
-<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keywordflow">if</span>(show_super_voxel_normals)</div>
-<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      viewer-&gt;addPointCloudNormals&lt;pcl::PointNormal&gt; (this-&gt;sv_normal_cloud,1,0.05f, <span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
-<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div>
-<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordflow">if</span>(show_adjacency_map)</div>
-<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    {</div>
-<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      {</div>
-<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="comment">//First get the label</span></div>
-<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        uint32_t supervoxel_label = label_itr-&gt;first;</div>
-<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
-<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        </div>
-<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;        pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr supervoxel = this-&gt;supervoxel_clusters.at (supervoxel_label);</div>
-<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div>
-<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        <span class="comment">//Now we need to iterate through the adjacent supervoxels and make a point cloud of them</span></div>
-<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; adjacent_supervoxel_centers;</div>
-<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        std::multimap&lt;uint32_t,uint32_t&gt;::iterator adjacent_itr = this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
-<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        <span class="keywordflow">for</span> ( ; adjacent_itr!=this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
-<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        {</div>
-<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr neighbor_supervoxel = this-&gt;supervoxel_clusters.at (adjacent_itr-&gt;second);</div>
-<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          adjacent_supervoxel_centers.push_back (neighbor_supervoxel-&gt;centroid_);</div>
-<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        }</div>
-<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="comment">//Now we make a name for this polygon</span></div>
-<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        std::stringstream ss;</div>
-<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
-<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a &quot;star&quot; polygon mesh from the points given</span></div>
-<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">addSupervoxelConnectionsToViewer</a> (supervoxel-&gt;centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
-<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <span class="comment">//Move iterator forward to next label</span></div>
-<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      }</div>
-<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    }   </div>
-<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;</div>
-<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  }</div>
-<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;}</div>
-<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;</div>
-<div class="line"><a name="l00351"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a892f9cc8b0ab76b1fcac802c4a55cb55">  351</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
-<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;{</div>
-<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keywordflow">if</span>(this-&gt;filt_objs.size() &gt; 0)</div>
-<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  {</div>
-<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    viewer-&gt;addPointCloud (this-&gt;labeled_voxel_cloud, <span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);  </div>
-<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    viewer-&gt;addPointCloudNormals&lt;pcl::PointNormal&gt; (this-&gt;sv_normal_cloud,1,0.05f, <span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
-<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;</div>
-<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    {</div>
-<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="comment">//First get the label</span></div>
-<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      uint32_t supervoxel_label = label_itr-&gt;first;</div>
-<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
-<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      </div>
-<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr supervoxel = this-&gt;supervoxel_clusters.at (supervoxel_label);</div>
+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="comment">//remove segments with too few points</span></div>
+<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="comment">// it will removes te ones with few points or the ones with no points (these are created because of the labels of lccp)</span></div>
+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keywordtype">int</span> size = detected_objects.size();</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keywordtype">int</span> i = 0;</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keywordflow">while</span> (i &lt; size)</div>
+<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  {</div>
+<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">if</span>(detected_objects[i].object_cloud.size() &lt; this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a>)</div>
+<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {</div>
+<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      detected_objects.erase(detected_objects.begin() + i);</div>
+<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      size = detected_objects.size();</div>
+<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    }</div>
+<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      i++;</div>
+<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  }</div>
+<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;</div>
+<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="comment">//float elapsed_time = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
+<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  </div>
+<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;elapsed_time (segmentation and postprocessing): &quot; &lt;&lt; elapsed_time &lt;&lt; &quot;\nelapsed_time of LCCP segmentation: &quot; &lt;&lt; elapsed_time_seg   &lt;&lt;  std::endl;</span></div>
+<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;elapsed_time plane estimation: &quot; &lt;&lt; elapsed_time_plane &lt;&lt; std::endl;</span></div>
+<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;</div>
+<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;}</div>
+<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div>
+<div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">  325</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer,</div>
+<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                       <span class="keywordtype">bool</span> show_adjacency_map,</div>
+<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                       <span class="keywordtype">bool</span> show_super_voxel_normals)</div>
+<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;{</div>
+<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">if</span>(this-&gt;detected_objects.size() &gt; 0)</div>
+<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  {</div>
+<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    viewer-&gt;addPointCloud (this-&gt;labeled_voxel_cloud, <span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);</div>
+<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;</div>
+<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">//pcl::visualization::PointCloudColorHandlerRGBField&lt;pcl::PointXYZRGBA&gt; rgb_cloud_obj(cloud);</span></div>
+<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="comment">//viewer-&gt;addPointCloud&lt;pcl::PointXYZRGBA&gt; (cloud, rgb_cloud_obj, &quot;maincloud&quot;);</span></div>
+<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keywordflow">if</span>(show_super_voxel_normals)</div>
+<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      viewer-&gt;addPointCloudNormals&lt;pcl::PointNormal&gt; (this-&gt;sv_normal_cloud,1,0.05f, <span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
+<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div>
+<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keywordflow">if</span>(show_adjacency_map)</div>
+<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    {</div>
+<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
+<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      {</div>
+<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <span class="comment">//First get the label</span></div>
+<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        uint32_t supervoxel_label = label_itr-&gt;first;</div>
+<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
+<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        </div>
+<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr supervoxel = this-&gt;supervoxel_clusters.at (supervoxel_label);</div>
+<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div>
+<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <span class="comment">//Now we need to iterate through the adjacent supervoxels and make a point cloud of them</span></div>
+<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; adjacent_supervoxel_centers;</div>
+<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        std::multimap&lt;uint32_t,uint32_t&gt;::iterator adjacent_itr = this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
+<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        <span class="keywordflow">for</span> ( ; adjacent_itr!=this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
+<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        {</div>
+<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;          pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr neighbor_supervoxel = this-&gt;supervoxel_clusters.at (adjacent_itr-&gt;second);</div>
+<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;          adjacent_supervoxel_centers.push_back (neighbor_supervoxel-&gt;centroid_);</div>
+<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        }</div>
+<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="comment">//Now we make a name for this polygon</span></div>
+<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        std::stringstream ss;</div>
+<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
+<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a &quot;star&quot; polygon mesh from the points given</span></div>
+<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">addSupervoxelConnectionsToViewer</a> (supervoxel-&gt;centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
+<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="comment">//Move iterator forward to next label</span></div>
+<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
+<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      }</div>
+<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    }   </div>
 <div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;</div>
-<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="comment">//Now we need to iterate through the adjacent supervoxels and make a point cloud of them</span></div>
-<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; adjacent_supervoxel_centers;</div>
-<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      std::multimap&lt;uint32_t,uint32_t&gt;::iterator adjacent_itr = this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
-<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordflow">for</span> ( ; adjacent_itr!=this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
-<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      {</div>
-<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr neighbor_supervoxel = this-&gt;supervoxel_clusters.at (adjacent_itr-&gt;second);</div>
-<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        adjacent_supervoxel_centers.push_back (neighbor_supervoxel-&gt;centroid_);</div>
-<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      }</div>
-<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      <span class="comment">//Now we make a name for this polygon</span></div>
-<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      std::stringstream ss;</div>
-<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
-<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a &quot;star&quot; polygon mesh from the points given</span></div>
-<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      <a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">addSupervoxelConnectionsToViewer</a> (supervoxel-&gt;centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
-<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="comment">//Move iterator forward to next label</span></div>
-<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    }   </div>
-<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;</div>
-<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  }</div>
-<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;}</div>
-<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;</div>
-<div class="line"><a name="l00388"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">  388</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
-<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;{</div>
-<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt; objects_cloud;</div>
-<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;</div>
-<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; this-&gt;filt_objs.size(); ++i)</div>
-<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  {</div>
-<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZL&gt; tmp_cloud;</div>
-<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;</div>
-<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p = 0; p &lt; this-&gt;filt_objs[i].object_cloud.size(); ++p)</div>
-<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    {</div>
-<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      pcl::PointXYZL tmp_point;</div>
-<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      tmp_point.x = this-&gt;filt_objs[i].object_cloud[p].x;</div>
-<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      tmp_point.y = this-&gt;filt_objs[i].object_cloud[p].y;</div>
-<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      tmp_point.z = this-&gt;filt_objs[i].object_cloud[p].z;</div>
-<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      tmp_point.label = this-&gt;filt_objs[i].label;</div>
-<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      tmp_cloud.points.push_back(tmp_point);</div>
-<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    }</div>
-<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    </div>
-<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    objects_cloud += tmp_cloud;</div>
-<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  }</div>
-<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;</div>
-<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  viewer-&gt;addPointCloud(objects_cloud.makeShared(), <span class="stringliteral">&quot;segmented_object_cloud&quot;</span>);</div>
-<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;</div>
-<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;}</div>
-<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;</div>
-<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">  414</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
-<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;{</div>
-<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);</div>
-<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
-<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;segmented_object_cloud&quot;</span>);</div>
-<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;</div>
-<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;</div>
-<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;  {</div>
-<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    uint32_t supervoxel_label = label_itr-&gt;first;</div>
-<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    std::stringstream ss;</div>
-<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
-<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    viewer-&gt;removeShape (ss.str());</div>
-<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  } </div>
-<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;}</div>
-<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;</div>
-<div class="line"><a name="l00433"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">  433</a></span>&#160;std::vector&lt;Object&gt; <a class="code" href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a>()</div>
-<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;{</div>
-<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="keywordflow">return</span> this-&gt;filt_objs;</div>
-<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;}</div>
-<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;</div>
-<div class="line"><a name="l00438"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">  438</a></span>&#160;std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt; <a class="code" href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a>()</div>
-<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;{</div>
-<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;  std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt; obj_vec;</div>
-<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  </div>
-<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; this-&gt;filt_objs.size(); ++i)</div>
+<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  }</div>
+<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;}</div>
+<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;</div>
+<div class="line"><a name="l00371"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a892f9cc8b0ab76b1fcac802c4a55cb55">  371</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
+<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;{</div>
+<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="keywordflow">if</span>(this-&gt;detected_objects.size() &gt; 0)</div>
+<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  {</div>
+<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    viewer-&gt;addPointCloud (this-&gt;labeled_voxel_cloud, <span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);  </div>
+<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    viewer-&gt;addPointCloudNormals&lt;pcl::PointNormal&gt; (this-&gt;sv_normal_cloud,1,0.05f, <span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
+<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;</div>
+<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
+<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    {</div>
+<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      <span class="comment">//First get the label</span></div>
+<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      uint32_t supervoxel_label = label_itr-&gt;first;</div>
+<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
+<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      </div>
+<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr supervoxel = this-&gt;supervoxel_clusters.at (supervoxel_label);</div>
+<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;</div>
+<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="comment">//Now we need to iterate through the adjacent supervoxels and make a point cloud of them</span></div>
+<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; adjacent_supervoxel_centers;</div>
+<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      std::multimap&lt;uint32_t,uint32_t&gt;::iterator adjacent_itr = this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
+<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="keywordflow">for</span> ( ; adjacent_itr!=this-&gt;supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
+<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      {</div>
+<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr neighbor_supervoxel = this-&gt;supervoxel_clusters.at (adjacent_itr-&gt;second);</div>
+<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        adjacent_supervoxel_centers.push_back (neighbor_supervoxel-&gt;centroid_);</div>
+<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      }</div>
+<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;      <span class="comment">//Now we make a name for this polygon</span></div>
+<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      std::stringstream ss;</div>
+<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
+<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a &quot;star&quot; polygon mesh from the points given</span></div>
+<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <a class="code" href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">addSupervoxelConnectionsToViewer</a> (supervoxel-&gt;centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
+<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      <span class="comment">//Move iterator forward to next label</span></div>
+<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
+<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    }   </div>
+<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;</div>
+<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;  }</div>
+<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;}</div>
+<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;</div>
+<div class="line"><a name="l00408"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">  408</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
+<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;{</div>
+<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  pcl::PointCloud&lt;pcl::PointXYZL&gt; objects_cloud;</div>
+<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div>
+<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; this-&gt;detected_objects.size(); ++i)</div>
+<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  {</div>
+<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    pcl::PointCloud&lt;pcl::PointXYZL&gt; tmp_cloud;</div>
+<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;</div>
+<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p = 0; p &lt; this-&gt;detected_objects[i].object_cloud.size(); ++p)</div>
+<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    {</div>
+<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      pcl::PointXYZL tmp_point;</div>
+<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;      tmp_point.x = this-&gt;detected_objects[i].object_cloud[p].x;</div>
+<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      tmp_point.y = this-&gt;detected_objects[i].object_cloud[p].y;</div>
+<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      tmp_point.z = this-&gt;detected_objects[i].object_cloud[p].z;</div>
+<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      tmp_point.label = this-&gt;detected_objects[i].label;</div>
+<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      tmp_cloud.points.push_back(tmp_point);</div>
+<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    }</div>
+<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    </div>
+<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    objects_cloud += tmp_cloud;</div>
+<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  }</div>
+<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;</div>
+<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  viewer-&gt;addPointCloud(objects_cloud.makeShared(), <span class="stringliteral">&quot;segmented_object_cloud&quot;</span>);</div>
+<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;</div>
+<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;}</div>
+<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;</div>
+<div class="line"><a name="l00434"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">  434</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a>(boost::shared_ptr&lt;pcl::visualization::PCLVisualizer&gt; &amp; viewer)</div>
+<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;{</div>
+<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;supervoxel_cloud&quot;</span>);</div>
+<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;supervoxel_normals&quot;</span>);</div>
+<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  viewer-&gt;removePointCloud(<span class="stringliteral">&quot;segmented_object_cloud&quot;</span>);</div>
+<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;</div>
+<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;</div>
+<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  std::multimap&lt;uint32_t,uint32_t&gt;::iterator label_itr = (this-&gt;supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  <span class="keywordflow">for</span> ( ; label_itr != (this-&gt;supervoxel_adjacency).end(); )</div>
 <div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  {</div>
-<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    obj_vec.push_back(filt_objs[i].object_cloud);</div>
-<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;  }</div>
-<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;</div>
-<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  <span class="keywordflow">return</span> obj_vec;</div>
-<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;}</div>
-<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;</div>
-<div class="line"><a name="l00450"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">  450</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a>()</div>
-<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;{</div>
-<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;\nTableTop_Object_Detection parameters: \n&quot;</span></div>
-<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- Supervoxel parameters ---------\n&quot;</span></div>
-<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;disable_transform: &quot;</span> &lt;&lt; (bool)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a>  &lt;&lt; std::endl</div>
-<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;voxel_resolution: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;seed_resolution: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;color_importance: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> &lt;&lt; std::endl</div>
-<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;spatial_importance: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;normal_importance: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- LCCP parameters ---------------\n&quot;</span></div>
-<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;concavity_tolerance_threshold: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;smoothness_threshold: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;min_segment_size: &quot;</span> &lt;&lt; (int)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;use_extended_convexity: &quot;</span> &lt;&lt; (<span class="keywordtype">bool</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;use_sanity_criterion: &quot;</span> &lt;&lt; (bool)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- Others parameters -------------\n&quot;</span></div>
-<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;zmin: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;zmax: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> &lt;&lt; std::endl </div>
-<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;th_points: &quot;</span> &lt;&lt; (<span class="keywordtype">int</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> &lt;&lt; std::endl &lt;&lt; std::endl;  </div>
-<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="keywordflow">return</span>;  </div>
-<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;}</div>
-<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;</div>
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-<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;{</div>
-<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keywordflow">return</span> *(this-&gt;labeled_voxel_cloud);</div>
-<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;}</div>
-<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;</div>
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-<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;{</div>
-<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;  <span class="keywordflow">return</span> this-&gt;supervoxel_adjacency;</div>
-<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;}</div>
-<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;</div>
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-<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;{</div>
-<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <span class="keywordflow">return</span> this-&gt;supervoxel_clusters;</div>
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-<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keywordflow">return</span> *(this-&gt;sv_normal_cloud);</div>
+<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    uint32_t supervoxel_label = label_itr-&gt;first;</div>
+<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;    std::stringstream ss;</div>
+<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    ss &lt;&lt; <span class="stringliteral">&quot;supervoxel_&quot;</span> &lt;&lt; supervoxel_label;</div>
+<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    viewer-&gt;removeShape (ss.str());</div>
+<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;    label_itr = (this-&gt;supervoxel_adjacency).upper_bound (supervoxel_label);</div>
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+<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;}</div>
+<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;</div>
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+<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;{</div>
+<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keywordflow">return</span> this-&gt;detected_objects;</div>
+<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;}</div>
+<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;</div>
+<div class="line"><a name="l00458"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">  458</a></span>&#160;std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt; <a class="code" href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a>()</div>
+<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;{</div>
+<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  std::vector&lt;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt; &gt; obj_vec;</div>
+<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  </div>
+<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; this-&gt;detected_objects.size(); ++i)</div>
+<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  {</div>
+<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;    obj_vec.push_back(detected_objects[i].object_cloud);</div>
+<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  }</div>
+<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;</div>
+<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;  <span class="keywordflow">return</span> obj_vec;</div>
+<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;}</div>
+<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;</div>
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+<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;{</div>
+<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;\nTableTop_Object_Detection parameters: \n&quot;</span></div>
+<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- Supervoxel parameters ---------\n&quot;</span></div>
+<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;disable_transform: &quot;</span> &lt;&lt; (bool)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a>  &lt;&lt; std::endl</div>
+<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;voxel_resolution: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;seed_resolution: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;color_importance: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> &lt;&lt; std::endl</div>
+<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;spatial_importance: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;normal_importance: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- LCCP parameters ---------------\n&quot;</span></div>
+<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;concavity_tolerance_threshold: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;smoothness_threshold: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;min_segment_size: &quot;</span> &lt;&lt; (int)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;use_extended_convexity: &quot;</span> &lt;&lt; (<span class="keywordtype">bool</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;use_sanity_criterion: &quot;</span> &lt;&lt; (bool)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;----------------- Others parameters -------------\n&quot;</span></div>
+<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;zmin: &quot;</span> &lt;&lt; (<span class="keywordtype">double</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;zmax: &quot;</span> &lt;&lt; (double)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> &lt;&lt; std::endl </div>
+<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;            &lt;&lt; <span class="stringliteral">&quot;th_points: &quot;</span> &lt;&lt; (<span class="keywordtype">int</span>)this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> &lt;&lt; std::endl &lt;&lt; std::endl;  </div>
+<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keywordflow">return</span>;  </div>
 <div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;}</div>
 <div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;</div>
-<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in)</div>
+<div class="line"><a name="l00493"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">  493</a></span>&#160;pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr <a class="code" href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">TableTop_Object_Detection::get_input_cloud</a>()</div>
 <div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;{</div>
-<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a> = disable_transform_in;</div>
+<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="keywordflow">return</span> this-&gt;cloud;</div>
 <div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;}</div>
-<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in)</div>
-<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;{</div>
-<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = voxel_resolution_in;</div>
-<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;}</div>
-<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in)</div>
-<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;{</div>
-<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = seed_resolution_in;</div>
-<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
-<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_color_importance(<span class="keywordtype">double</span> color_importance_in)</div>
-<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;{</div>
-<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = color_importance_in;</div>
-<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;}</div>
-<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in)</div>
-<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;{</div>
-<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = spatial_importance_in;</div>
-<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;}</div>
-<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_normal_importance(<span class="keywordtype">double</span> normal_importance_in)</div>
+<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;</div>
+<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">  498</a></span>&#160;pcl::PointCloud&lt;pcl::PointXYZL&gt; <a class="code" href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection::get_labeled_voxel_cloud</a>()</div>
+<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;{</div>
+<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <span class="keywordflow">return</span> *(this-&gt;labeled_voxel_cloud);</div>
+<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;}</div>
+<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;</div>
+<div class="line"><a name="l00503"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">  503</a></span>&#160;std::multimap&lt;uint32_t, uint32_t&gt; <a class="code" href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">TableTop_Object_Detection::get_supervoxel_adjacency</a>()</div>
+<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;{</div>
+<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;  <span class="keywordflow">return</span> this-&gt;supervoxel_adjacency;</div>
+<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;}</div>
+<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;</div>
+<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">  508</a></span>&#160;std::map &lt;uint32_t, pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr&gt; <a class="code" href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">TableTop_Object_Detection::get_supervoxel_clusters</a>()</div>
+<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;{</div>
+<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordflow">return</span> this-&gt;supervoxel_clusters;</div>
+<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;}</div>
+<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;</div>
+<div class="line"><a name="l00513"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">  513</a></span>&#160;pcl::PointCloud&lt;pcl::PointNormal&gt; <a class="code" href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">TableTop_Object_Detection::get_sv_normal_cloud</a>()</div>
 <div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;{</div>
-<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = normal_importance_in;</div>
+<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  <span class="keywordflow">return</span> *(this-&gt;sv_normal_cloud);</div>
 <div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;}</div>
-<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in)</div>
-<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;{</div>
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-<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;}</div>
-<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in)</div>
-<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;{</div>
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-<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in)</div>
-<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;{</div>
-<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = min_segment_size_in;</div>
-<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;}</div>
-<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in)</div>
-<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;{</div>
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-<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;}</div>
-<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in)</div>
-<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;{</div>
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-<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;}</div>
-<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_zmin(<span class="keywordtype">double</span> zmin_in)</div>
-<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;{</div>
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-<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;}</div>
-<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_zmax(<span class="keywordtype">double</span> zmax_in)</div>
-<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;{</div>
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-<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;}</div>
-<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_th_points(<span class="keywordtype">int</span> th_points_in)</div>
-<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;{</div>
-<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> = th_points_in;</div>
-<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;}</div>
-<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;<span class="keywordtype">bool</span> TableTop_Object_Detection::get_disable_transform()</div>
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-<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a>;</div>
-<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;}</div>
-<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_voxel_resolution()</div>
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-<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_seed_resolution()</div>
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-<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_spatial_importance()</div>
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-<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;{</div>
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-<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;<span class="keywordtype">bool</span> TableTop_Object_Detection::get_use_extended_convexity()</div>
-<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;{</div>
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-<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;}</div>
-<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;<span class="keywordtype">bool</span> TableTop_Object_Detection::get_use_sanity_criterion()</div>
-<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;{</div>
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-<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;}</div>
-<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_zmin()</div>
-<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;{</div>
-<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a>;</div>
-<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;}</div>
-<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_zmax()</div>
-<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;{</div>
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-<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;}</div>
-<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;<span class="keywordtype">int</span> TableTop_Object_Detection::get_th_points()</div>
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-<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a>;</div>
-<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;}</div>
+<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;</div>
+<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in)</div>
+<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;{</div>
+<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a> = disable_transform_in;</div>
+<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;}</div>
+<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in)</div>
+<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;{</div>
+<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a> = voxel_resolution_in;</div>
+<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;}</div>
+<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in)</div>
+<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;{</div>
+<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a> = seed_resolution_in;</div>
+<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;}</div>
+<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_color_importance(<span class="keywordtype">double</span> color_importance_in)</div>
+<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;{</div>
+<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a> = color_importance_in;</div>
+<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;}</div>
+<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in)</div>
+<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;{</div>
+<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a> = spatial_importance_in;</div>
+<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;}</div>
+<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_normal_importance(<span class="keywordtype">double</span> normal_importance_in)</div>
+<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;{</div>
+<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a> = normal_importance_in;</div>
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+<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in)</div>
+<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;{</div>
+<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">concavity_tolerance_threshold</a> = concavity_tolerance_threshold_in;</div>
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+<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in)</div>
+<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;{</div>
+<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">smoothness_threshold</a> = smoothness_threshold_in;</div>
+<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;}</div>
+<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in)</div>
+<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;{</div>
+<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">min_segment_size</a> = min_segment_size_in;</div>
+<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;}</div>
+<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in)</div>
+<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;{</div>
+<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">use_extended_convexity</a> = use_extended_convexity_in;</div>
+<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;}</div>
+<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in)</div>
+<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;{</div>
+<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">use_sanity_criterion</a> = use_sanity_criterion_in;</div>
+<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;}</div>
+<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_zmin(<span class="keywordtype">double</span> zmin_in)</div>
+<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;{</div>
+<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a> = zmin_in;</div>
+<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;}</div>
+<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_zmax(<span class="keywordtype">double</span> zmax_in)</div>
+<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;{</div>
+<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a> = zmax_in;</div>
+<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;}</div>
+<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;<span class="keywordtype">void</span> TableTop_Object_Detection::set_th_points(<span class="keywordtype">int</span> th_points_in)</div>
+<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;{</div>
+<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a> = th_points_in;</div>
+<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;}</div>
+<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;<span class="keywordtype">bool</span> TableTop_Object_Detection::get_disable_transform()</div>
+<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;{</div>
+<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">disable_transform</a>;</div>
+<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;}</div>
+<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_voxel_resolution()</div>
+<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;{</div>
+<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">voxel_resolution</a>;</div>
+<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;}</div>
+<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_seed_resolution()</div>
+<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;{</div>
+<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">seed_resolution</a>;</div>
+<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;}</div>
+<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_color_importance()</div>
+<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;{</div>
+<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">color_importance</a>;</div>
+<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;}</div>
+<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_spatial_importance()</div>
+<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;{</div>
+<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">spatial_importance</a>;</div>
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+<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_normal_importance()</div>
+<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;{</div>
+<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">normal_importance</a>;</div>
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+<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_concavity_tolerance_threshold()</div>
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+<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::TableTop_Object_Detection::TableTop_Object_Detection::get_smoothness_threshold()</div>
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+<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keywordflow">return</span> this-&gt;smoothness_threshold;</div>
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+<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  <span class="keywordflow">return</span> this-&gt;min_segment_size;</div>
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+<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="keywordtype">bool</span> TableTop_Object_Detection::get_use_sanity_criterion()</div>
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+<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_zmin()</div>
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+<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">zmin</a>;</div>
+<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;}</div>
+<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;<span class="keywordtype">double</span> TableTop_Object_Detection::get_zmax()</div>
+<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;{</div>
+<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">zmax</a>;</div>
+<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;}</div>
+<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;<span class="keywordtype">int</span> TableTop_Object_Detection::get_th_points()</div>
+<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;{</div>
+<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">th_points</a>;</div>
+<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;}</div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a32d56ea41d136ab3f9f1b9e7a03918da"><div class="ttname"><a href="classTableTop__Object__Detection.html#a32d56ea41d136ab3f9f1b9e7a03918da">TableTop_Object_Detection::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00156">tabletop_object_detection.h:156</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a1dac5b182b352220c6ca6a4f169ebc85"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a1dac5b182b352220c6ca6a4f169ebc85">tableTop_object_detection_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00065">tabletop_object_detection.h:65</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_adbd04002cc3f21b67dedc7d5a4817ea9"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">tableTop_object_detection_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00059">tabletop_object_detection.h:59</a></div></div>
@@ -660,32 +685,35 @@
 <div class="ttc" id="classTableTop__Object__Detection_html_a1c96d6a75564938ee860dadf947d43c0"><div class="ttname"><a href="classTableTop__Object__Detection.html#a1c96d6a75564938ee860dadf947d43c0">TableTop_Object_Detection::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00112">tabletop_object_detection.h:112</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_af9edebad24574492fb986884155cecd3"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#af9edebad24574492fb986884155cecd3">tableTop_object_detection_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00056">tabletop_object_detection.h:56</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ab7801dcdcbfe422f476cf51d14fedc28"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab7801dcdcbfe422f476cf51d14fedc28">TableTop_Object_Detection::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00151">tabletop_object_detection.h:151</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00414">tabletop_object_detection.cpp:414</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00434">tabletop_object_detection.cpp:434</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a75fb88d53b6d2d70fb6f24e0360dcef8"><div class="ttname"><a href="classTableTop__Object__Detection.html#a75fb88d53b6d2d70fb6f24e0360dcef8">TableTop_Object_Detection::~TableTop_Object_Detection</a></div><div class="ttdeci">~TableTop_Object_Detection()</div><div class="ttdoc">class destructor </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00008">tabletop_object_detection.cpp:8</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a836b570f07e3a26eb411dc270db326c4"><div class="ttname"><a href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00155">tabletop_object_detection.h:155</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ab9bbf3c9ac5b0564d3dc45d5a3350fe3"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00161">tabletop_object_detection.h:161</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aae7c3acdedfe90a1a78d4ba019d53939"><div class="ttname"><a href="classTableTop__Object__Detection.html#aae7c3acdedfe90a1a78d4ba019d53939">TableTop_Object_Detection::TableTop_Object_Detection</a></div><div class="ttdeci">TableTop_Object_Detection()</div><div class="ttdoc">Class costructor. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00003">tabletop_object_detection.cpp:3</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ab87502c15cc8fe893b98a6c9eac873ee"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">TableTop_Object_Detection::set_parameters</a></div><div class="ttdeci">void set_parameters(tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Set all the parameters of the algorithm accordingly to the one given to input. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00028">tabletop_object_detection.cpp:28</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a48985d7b12316ccecbd85c7e09f1e6af"><div class="ttname"><a href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZL &gt; get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00473">tabletop_object_detection.cpp:473</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a2d6ea56e8d89a278a4640ca827c9da4d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">TableTop_Object_Detection::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap&lt; uint32_t, uint32_t &gt; get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00478">tabletop_object_detection.cpp:478</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ac438979dc29d88aea96f30cf652f9294"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">TableTop_Object_Detection::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00493">tabletop_object_detection.cpp:493</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ab87502c15cc8fe893b98a6c9eac873ee"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">TableTop_Object_Detection::set_parameters</a></div><div class="ttdeci">void set_parameters(tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Set all the parameters of the algorithm accordingly to the one given to input. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00042">tabletop_object_detection.cpp:42</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a48985d7b12316ccecbd85c7e09f1e6af"><div class="ttname"><a href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZL &gt; get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00498">tabletop_object_detection.cpp:498</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a2d6ea56e8d89a278a4640ca827c9da4d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">TableTop_Object_Detection::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap&lt; uint32_t, uint32_t &gt; get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00503">tabletop_object_detection.cpp:503</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a25ae1cdac1117e64e8e14b2c1cd6c361"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00057">tabletop_object_detection.h:57</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a1cc4d45794c3a1e232d7a5f43243622e"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">tableTop_object_detection_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00051">tabletop_object_detection.h:51</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a5b5cf25fa26e9d6a5762ccaaa59bd980"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00050">tabletop_object_detection.h:50</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00388">tabletop_object_detection.cpp:388</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00305">tabletop_object_detection.cpp:305</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00408">tabletop_object_detection.cpp:408</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a2bc1fa0f283211f16eef9cfe8656ecc9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">TableTop_Object_Detection::initialized</a></div><div class="ttdeci">bool initialized</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00166">tabletop_object_detection.h:166</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00325">tabletop_object_detection.cpp:325</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a52dc08af2d8170e8606c0d3470e153c3"><div class="ttname"><a href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">TableTop_Object_Detection::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00100">tabletop_object_detection.h:100</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00450">tabletop_object_detection.cpp:450</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00470">tabletop_object_detection.cpp:470</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ad70662d12a756512e3257f450e219452"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00148">tabletop_object_detection.h:148</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a8670aeda90393e0a70d7bd2da572a3ac"><div class="ttname"><a href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">TableTop_Object_Detection::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00107">tabletop_object_detection.h:107</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a30f53150234d3a804c50679ddf6836e3"><div class="ttname"><a href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">TableTop_Object_Detection::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00102">tabletop_object_detection.h:102</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a7f4100b194f701841e3fe565a613415c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">TableTop_Object_Detection::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointNormal &gt; get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00488">tabletop_object_detection.cpp:488</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a7f4100b194f701841e3fe565a613415c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">TableTop_Object_Detection::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointNormal &gt; get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00513">tabletop_object_detection.cpp:513</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a69899eb7a9504e03e75286f437e8da71"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00064">tabletop_object_detection.h:64</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_aad3a5a13616c968ec81f2ed95eb8ef6c"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">tableTop_object_detection_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00053">tabletop_object_detection.h:53</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00433">tabletop_object_detection.cpp:433</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00453">tabletop_object_detection.cpp:453</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ab4f09a192dca3e49be9b2404739bc1fb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">TableTop_Object_Detection::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00097">tabletop_object_detection.h:97</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a33db99548dd0671a2dfb7dad87099443"><div class="ttname"><a href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">TableTop_Object_Detection::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00146">tabletop_object_detection.h:146</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_af15d61d5586d069969a1860ae222abbe"><div class="ttname"><a href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">TableTop_Object_Detection::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00101">tabletop_object_detection.h:101</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ab18176bb83e188ae71322dd192703a2e"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a></div><div class="ttdeci">void set_default_parameters()</div><div class="ttdoc">Set default parameters to the algorithm. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00052">tabletop_object_detection.cpp:52</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_af6f6a38de376991aae5e6bf3ff6d4206"><div class="ttname"><a href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the publis members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00030">tabletop_object_detection.cpp:30</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ab18176bb83e188ae71322dd192703a2e"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a></div><div class="ttdeci">void set_default_parameters()</div><div class="ttdoc">Set default parameters to the algorithm. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00066">tabletop_object_detection.cpp:66</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ab0d42a5811ff6ff88e5364462b891adc"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">tableTop_object_detection_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00058">tabletop_object_detection.h:58</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_abd2df80ddd63d2527fdb3e2173dfa7bd"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00049">tabletop_object_detection.h:49</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a556a200a38147471416607937e039848"><div class="ttname"><a href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">TableTop_Object_Detection::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00108">tabletop_object_detection.h:108</a></div></div>
@@ -693,32 +721,32 @@
 <div class="ttc" id="classTableTop__Object__Detection_html_a25bcdb951230b3354eb57718d133f964"><div class="ttname"><a href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">TableTop_Object_Detection::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00154">tabletop_object_detection.h:154</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ac42ea218190506b3d367406088fde651"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00162">tabletop_object_detection.h:162</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a64c15db6e48996b6de7b98ffc9571c4f"><div class="ttname"><a href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">TableTop_Object_Detection::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00105">tabletop_object_detection.h:105</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a26381efc3b23b5b2496d08d5db6ed196"><div class="ttname"><a href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &amp;supervoxel_center, pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00079">tabletop_object_detection.cpp:79</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a26381efc3b23b5b2496d08d5db6ed196"><div class="ttname"><a href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &amp;supervoxel_center, pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00093">tabletop_object_detection.cpp:93</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a40051e60619a46e0a1fe3df06a6367d9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection::init</a></div><div class="ttdeci">void init(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; input_cloud, tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00013">tabletop_object_detection.cpp:13</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ac427e4c80d7791bbe503f560740aee88"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">tableTop_object_detection_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00052">tabletop_object_detection.h:52</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_af00bb688ce3a84cb3bd4edc8fe364d4b"><div class="ttname"><a href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr cloud, double zmin, double zmax, pcl::PointIndices::Ptr objectIndices, bool filter_input_cloud)</div><div class="ttdoc">detects objects that stands on a table </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00108">tabletop_object_detection.cpp:108</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_af00bb688ce3a84cb3bd4edc8fe364d4b"><div class="ttname"><a href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr cloud, double zmin, double zmax, pcl::PointIndices::Ptr objectIndices, bool filter_input_cloud)</div><div class="ttdoc">detects objects that stands on a table </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00122">tabletop_object_detection.cpp:122</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aca1c3e7181470c613fe2044ca45adeba"><div class="ttname"><a href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00163">tabletop_object_detection.h:163</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a504caa6abf5b6f9fefcbeb557ff7d2e2"><div class="ttname"><a href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">TableTop_Object_Detection::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00158">tabletop_object_detection.h:158</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ac9e955940749a92932c6f07ea57962c4"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">TableTop_Object_Detection::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00149">tabletop_object_detection.h:149</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ad839812934dce3dc30bfce50a6c7979b"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ad839812934dce3dc30bfce50a6c7979b">tableTop_object_detection_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00048">tabletop_object_detection.h:48</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00198">tabletop_object_detection.cpp:198</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_abe94e4ef82ab5c9474853a97f3bc0d11"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">TableTop_Object_Detection::get_supervoxel_clusters</a></div><div class="ttdeci">std::map&lt; uint32_t, pcl::Supervoxel&lt; pcl::PointXYZRGBA &gt;::Ptr &gt; get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00483">tabletop_object_detection.cpp:483</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00212">tabletop_object_detection.cpp:212</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_abe94e4ef82ab5c9474853a97f3bc0d11"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">TableTop_Object_Detection::get_supervoxel_clusters</a></div><div class="ttdeci">std::map&lt; uint32_t, pcl::Supervoxel&lt; pcl::PointXYZRGBA &gt;::Ptr &gt; get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00508">tabletop_object_detection.cpp:508</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a97f75cf23b9d5afb48b34054f751830c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">TableTop_Object_Detection::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00113">tabletop_object_detection.h:113</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a4111f255b57f25cffdc7aa27d73226e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TableTop_Object_Detection::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00114">tabletop_object_detection.h:114</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_abe8cbb3004c51aa6ff2260369715c693"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">TableTop_Object_Detection::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00106">tabletop_object_detection.h:106</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a9f3dae7482320cff5b5e5f587aa4b2c9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">TableTop_Object_Detection::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00150">tabletop_object_detection.h:150</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00170">tabletop_object_detection.cpp:170</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00184">tabletop_object_detection.cpp:184</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a1809213d6392f77863d5130a14790954"><div class="ttname"><a href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00147">tabletop_object_detection.h:147</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aebb9e5790be333944c620a88d01f4660"><div class="ttname"><a href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">TableTop_Object_Detection::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00157">tabletop_object_detection.h:157</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a979341d0bcf0d9b8696b65054bec5838"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">tableTop_object_detection_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00060">tabletop_object_detection.h:60</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a3225e48172e84101b8ae82a8c9dd08dd"><div class="ttname"><a href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector&lt; pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &gt; get_segmented_objects_simple()</div><div class="ttdoc">Get the detected objects as a vector of point clouds. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00438">tabletop_object_detection.cpp:438</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a3225e48172e84101b8ae82a8c9dd08dd"><div class="ttname"><a href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector&lt; pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &gt; get_segmented_objects_simple()</div><div class="ttdoc">Get the detected objects as a vector of point clouds. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00458">tabletop_object_detection.cpp:458</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a0545fba1336d1a337d6693b4b85bac04"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00063">tabletop_object_detection.h:63</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_af919465ec8fa6ab2a26bcee382854db0"><div class="ttname"><a href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">TableTop_Object_Detection::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00109">tabletop_object_detection.h:109</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a832ef2fe70977d729007e61e6ccb770a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">TableTop_Object_Detection::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00099">tabletop_object_detection.h:99</a></div></div>
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diff --git a/trunk/doc/html/tabletop__object__detection_8h_source.html b/trunk/doc/html/tabletop__object__detection_8h_source.html
index 3b354a7..56e209a 100644
--- a/trunk/doc/html/tabletop__object__detection_8h_source.html
+++ b/trunk/doc/html/tabletop__object__detection_8h_source.html
@@ -111,7 +111,7 @@
 <div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html">   91</a></span>&#160;<span class="keyword">class </span><a class="code" href="classTableTop__Object__Detection.html">TableTop_Object_Detection</a></div>
 <div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
 <div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="keyword">protected</span>:</div>
-<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    </div>
+<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div>
 <div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="comment">// -------- Default Parameters --------</span></div>
 <div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="comment">// supervoxels parameters </span></div>
 <div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">   97</a></span>&#160;    <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">DISABLE_TRANSFORM</a> = <span class="keyword">false</span>; </div>
@@ -132,7 +132,7 @@
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-<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordtype">bool</span> get_use_sanity_criterion();</div>
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-<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keywordtype">double</span> get_zmax();</div>
-<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordtype">int</span> get_th_points();</div>
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-<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;};</div>
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-<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;<span class="preprocessor">#endif </span></div>
+<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    std::multimap&lt;uint32_t, uint32_t&gt; <a class="code" href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">get_supervoxel_adjacency</a>();</div>
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+<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    std::map &lt;uint32_t, pcl::Supervoxel&lt;pcl::PointXYZRGBA&gt;::Ptr&gt; <a class="code" href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">get_supervoxel_clusters</a>();</div>
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+<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    pcl::PointCloud&lt;pcl::PointNormal&gt; <a class="code" href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">get_sv_normal_cloud</a>();</div>
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+<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordtype">bool</span> get_disable_transform();</div>
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+<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordtype">double</span> get_color_importance();</div>
+<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordtype">double</span> get_spatial_importance();</div>
+<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    <span class="keywordtype">double</span> get_normal_importance();</div>
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+<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordtype">double</span> get_concavity_tolerance_threshold();</div>
+<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordtype">double</span> get_smoothness_threshold();</div>
+<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    <span class="keywordtype">int</span> get_min_segment_size();</div>
+<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <span class="keywordtype">bool</span> get_use_extended_convexity();</div>
+<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordtype">bool</span> get_use_sanity_criterion();</div>
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+<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordtype">double</span> get_zmin();</div>
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+<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordtype">int</span> get_th_points();</div>
+<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;</div>
+<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;};</div>
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@@ -250,33 +255,36 @@
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-<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00414">tabletop_object_detection.cpp:414</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00434">tabletop_object_detection.cpp:434</a></div></div>
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 <div class="ttc" id="classTableTop__Object__Detection_html_a836b570f07e3a26eb411dc270db326c4"><div class="ttname"><a href="classTableTop__Object__Detection.html#a836b570f07e3a26eb411dc270db326c4">TableTop_Object_Detection::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00155">tabletop_object_detection.h:155</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ab9bbf3c9ac5b0564d3dc45d5a3350fe3"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab9bbf3c9ac5b0564d3dc45d5a3350fe3">TableTop_Object_Detection::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00161">tabletop_object_detection.h:161</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aae7c3acdedfe90a1a78d4ba019d53939"><div class="ttname"><a href="classTableTop__Object__Detection.html#aae7c3acdedfe90a1a78d4ba019d53939">TableTop_Object_Detection::TableTop_Object_Detection</a></div><div class="ttdeci">TableTop_Object_Detection()</div><div class="ttdoc">Class costructor. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00003">tabletop_object_detection.cpp:3</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ab87502c15cc8fe893b98a6c9eac873ee"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">TableTop_Object_Detection::set_parameters</a></div><div class="ttdeci">void set_parameters(tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Set all the parameters of the algorithm accordingly to the one given to input. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00028">tabletop_object_detection.cpp:28</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a48985d7b12316ccecbd85c7e09f1e6af"><div class="ttname"><a href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZL &gt; get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00473">tabletop_object_detection.cpp:473</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a2d6ea56e8d89a278a4640ca827c9da4d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">TableTop_Object_Detection::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap&lt; uint32_t, uint32_t &gt; get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00478">tabletop_object_detection.cpp:478</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ac438979dc29d88aea96f30cf652f9294"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac438979dc29d88aea96f30cf652f9294">TableTop_Object_Detection::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00493">tabletop_object_detection.cpp:493</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ab87502c15cc8fe893b98a6c9eac873ee"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab87502c15cc8fe893b98a6c9eac873ee">TableTop_Object_Detection::set_parameters</a></div><div class="ttdeci">void set_parameters(tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Set all the parameters of the algorithm accordingly to the one given to input. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00042">tabletop_object_detection.cpp:42</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a48985d7b12316ccecbd85c7e09f1e6af"><div class="ttname"><a href="classTableTop__Object__Detection.html#a48985d7b12316ccecbd85c7e09f1e6af">TableTop_Object_Detection::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZL &gt; get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00498">tabletop_object_detection.cpp:498</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a2d6ea56e8d89a278a4640ca827c9da4d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2d6ea56e8d89a278a4640ca827c9da4d">TableTop_Object_Detection::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap&lt; uint32_t, uint32_t &gt; get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00503">tabletop_object_detection.cpp:503</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a25ae1cdac1117e64e8e14b2c1cd6c361"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00057">tabletop_object_detection.h:57</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a1cc4d45794c3a1e232d7a5f43243622e"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">tableTop_object_detection_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00051">tabletop_object_detection.h:51</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a5b5cf25fa26e9d6a5762ccaaa59bd980"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00050">tabletop_object_detection.h:50</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00388">tabletop_object_detection.cpp:388</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00305">tabletop_object_detection.cpp:305</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00408">tabletop_object_detection.cpp:408</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a2bc1fa0f283211f16eef9cfe8656ecc9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a2bc1fa0f283211f16eef9cfe8656ecc9">TableTop_Object_Detection::initialized</a></div><div class="ttdeci">bool initialized</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00166">tabletop_object_detection.h:166</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00325">tabletop_object_detection.cpp:325</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a52dc08af2d8170e8606c0d3470e153c3"><div class="ttname"><a href="classTableTop__Object__Detection.html#a52dc08af2d8170e8606c0d3470e153c3">TableTop_Object_Detection::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00100">tabletop_object_detection.h:100</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00450">tabletop_object_detection.cpp:450</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00470">tabletop_object_detection.cpp:470</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ad70662d12a756512e3257f450e219452"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad70662d12a756512e3257f450e219452">TableTop_Object_Detection::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00148">tabletop_object_detection.h:148</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a8670aeda90393e0a70d7bd2da572a3ac"><div class="ttname"><a href="classTableTop__Object__Detection.html#a8670aeda90393e0a70d7bd2da572a3ac">TableTop_Object_Detection::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00107">tabletop_object_detection.h:107</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a30f53150234d3a804c50679ddf6836e3"><div class="ttname"><a href="classTableTop__Object__Detection.html#a30f53150234d3a804c50679ddf6836e3">TableTop_Object_Detection::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00102">tabletop_object_detection.h:102</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a7f4100b194f701841e3fe565a613415c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">TableTop_Object_Detection::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointNormal &gt; get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00488">tabletop_object_detection.cpp:488</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a7f4100b194f701841e3fe565a613415c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a7f4100b194f701841e3fe565a613415c">TableTop_Object_Detection::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointNormal &gt; get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00513">tabletop_object_detection.cpp:513</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a69899eb7a9504e03e75286f437e8da71"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a69899eb7a9504e03e75286f437e8da71">tableTop_object_detection_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00064">tabletop_object_detection.h:64</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_aad3a5a13616c968ec81f2ed95eb8ef6c"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">tableTop_object_detection_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00053">tabletop_object_detection.h:53</a></div></div>
 <div class="ttc" id="structObject_html"><div class="ttname"><a href="structObject.html">Object</a></div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00035">tabletop_object_detection.h:35</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00433">tabletop_object_detection.cpp:433</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00453">tabletop_object_detection.cpp:453</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ab4f09a192dca3e49be9b2404739bc1fb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab4f09a192dca3e49be9b2404739bc1fb">TableTop_Object_Detection::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00097">tabletop_object_detection.h:97</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a33db99548dd0671a2dfb7dad87099443"><div class="ttname"><a href="classTableTop__Object__Detection.html#a33db99548dd0671a2dfb7dad87099443">TableTop_Object_Detection::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00146">tabletop_object_detection.h:146</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_af15d61d5586d069969a1860ae222abbe"><div class="ttname"><a href="classTableTop__Object__Detection.html#af15d61d5586d069969a1860ae222abbe">TableTop_Object_Detection::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00101">tabletop_object_detection.h:101</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ab18176bb83e188ae71322dd192703a2e"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a></div><div class="ttdeci">void set_default_parameters()</div><div class="ttdoc">Set default parameters to the algorithm. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00052">tabletop_object_detection.cpp:52</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_af6f6a38de376991aae5e6bf3ff6d4206"><div class="ttname"><a href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the publis members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00030">tabletop_object_detection.cpp:30</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ab18176bb83e188ae71322dd192703a2e"><div class="ttname"><a href="classTableTop__Object__Detection.html#ab18176bb83e188ae71322dd192703a2e">TableTop_Object_Detection::set_default_parameters</a></div><div class="ttdeci">void set_default_parameters()</div><div class="ttdoc">Set default parameters to the algorithm. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00066">tabletop_object_detection.cpp:66</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ab0d42a5811ff6ff88e5364462b891adc"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">tableTop_object_detection_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00058">tabletop_object_detection.h:58</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_abd2df80ddd63d2527fdb3e2173dfa7bd"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00049">tabletop_object_detection.h:49</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a556a200a38147471416607937e039848"><div class="ttname"><a href="classTableTop__Object__Detection.html#a556a200a38147471416607937e039848">TableTop_Object_Detection::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00108">tabletop_object_detection.h:108</a></div></div>
@@ -284,33 +292,33 @@
 <div class="ttc" id="classTableTop__Object__Detection_html_a25bcdb951230b3354eb57718d133f964"><div class="ttname"><a href="classTableTop__Object__Detection.html#a25bcdb951230b3354eb57718d133f964">TableTop_Object_Detection::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00154">tabletop_object_detection.h:154</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ac42ea218190506b3d367406088fde651"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac42ea218190506b3d367406088fde651">TableTop_Object_Detection::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00162">tabletop_object_detection.h:162</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a64c15db6e48996b6de7b98ffc9571c4f"><div class="ttname"><a href="classTableTop__Object__Detection.html#a64c15db6e48996b6de7b98ffc9571c4f">TableTop_Object_Detection::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00105">tabletop_object_detection.h:105</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a26381efc3b23b5b2496d08d5db6ed196"><div class="ttname"><a href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &amp;supervoxel_center, pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00079">tabletop_object_detection.cpp:79</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a26381efc3b23b5b2496d08d5db6ed196"><div class="ttname"><a href="classTableTop__Object__Detection.html#a26381efc3b23b5b2496d08d5db6ed196">TableTop_Object_Detection::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &amp;supervoxel_center, pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &amp;adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00093">tabletop_object_detection.cpp:93</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a40051e60619a46e0a1fe3df06a6367d9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection::init</a></div><div class="ttdeci">void init(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; input_cloud, tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00013">tabletop_object_detection.cpp:13</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ac427e4c80d7791bbe503f560740aee88"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">tableTop_object_detection_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00052">tabletop_object_detection.h:52</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_af00bb688ce3a84cb3bd4edc8fe364d4b"><div class="ttname"><a href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr cloud, double zmin, double zmax, pcl::PointIndices::Ptr objectIndices, bool filter_input_cloud)</div><div class="ttdoc">detects objects that stands on a table </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00108">tabletop_object_detection.cpp:108</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_af00bb688ce3a84cb3bd4edc8fe364d4b"><div class="ttname"><a href="classTableTop__Object__Detection.html#af00bb688ce3a84cb3bd4edc8fe364d4b">TableTop_Object_Detection::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;::Ptr cloud, double zmin, double zmax, pcl::PointIndices::Ptr objectIndices, bool filter_input_cloud)</div><div class="ttdoc">detects objects that stands on a table </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00122">tabletop_object_detection.cpp:122</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aca1c3e7181470c613fe2044ca45adeba"><div class="ttname"><a href="classTableTop__Object__Detection.html#aca1c3e7181470c613fe2044ca45adeba">TableTop_Object_Detection::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00163">tabletop_object_detection.h:163</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a504caa6abf5b6f9fefcbeb557ff7d2e2"><div class="ttname"><a href="classTableTop__Object__Detection.html#a504caa6abf5b6f9fefcbeb557ff7d2e2">TableTop_Object_Detection::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00158">tabletop_object_detection.h:158</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_ac9e955940749a92932c6f07ea57962c4"><div class="ttname"><a href="classTableTop__Object__Detection.html#ac9e955940749a92932c6f07ea57962c4">TableTop_Object_Detection::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00149">tabletop_object_detection.h:149</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html"><div class="ttname"><a href="classTableTop__Object__Detection.html">TableTop_Object_Detection</a></div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00091">tabletop_object_detection.h:91</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ad839812934dce3dc30bfce50a6c7979b"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ad839812934dce3dc30bfce50a6c7979b">tableTop_object_detection_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00048">tabletop_object_detection.h:48</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00198">tabletop_object_detection.cpp:198</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_abe94e4ef82ab5c9474853a97f3bc0d11"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">TableTop_Object_Detection::get_supervoxel_clusters</a></div><div class="ttdeci">std::map&lt; uint32_t, pcl::Supervoxel&lt; pcl::PointXYZRGBA &gt;::Ptr &gt; get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00483">tabletop_object_detection.cpp:483</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00212">tabletop_object_detection.cpp:212</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_abe94e4ef82ab5c9474853a97f3bc0d11"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe94e4ef82ab5c9474853a97f3bc0d11">TableTop_Object_Detection::get_supervoxel_clusters</a></div><div class="ttdeci">std::map&lt; uint32_t, pcl::Supervoxel&lt; pcl::PointXYZRGBA &gt;::Ptr &gt; get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00508">tabletop_object_detection.cpp:508</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a97f75cf23b9d5afb48b34054f751830c"><div class="ttname"><a href="classTableTop__Object__Detection.html#a97f75cf23b9d5afb48b34054f751830c">TableTop_Object_Detection::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00113">tabletop_object_detection.h:113</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a4111f255b57f25cffdc7aa27d73226e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a4111f255b57f25cffdc7aa27d73226e9">TableTop_Object_Detection::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00114">tabletop_object_detection.h:114</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_abe8cbb3004c51aa6ff2260369715c693"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe8cbb3004c51aa6ff2260369715c693">TableTop_Object_Detection::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00106">tabletop_object_detection.h:106</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a9f3dae7482320cff5b5e5f587aa4b2c9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a9f3dae7482320cff5b5e5f587aa4b2c9">TableTop_Object_Detection::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00150">tabletop_object_detection.h:150</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00170">tabletop_object_detection.cpp:170</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00184">tabletop_object_detection.cpp:184</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a1809213d6392f77863d5130a14790954"><div class="ttname"><a href="classTableTop__Object__Detection.html#a1809213d6392f77863d5130a14790954">TableTop_Object_Detection::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00147">tabletop_object_detection.h:147</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_aebb9e5790be333944c620a88d01f4660"><div class="ttname"><a href="classTableTop__Object__Detection.html#aebb9e5790be333944c620a88d01f4660">TableTop_Object_Detection::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00157">tabletop_object_detection.h:157</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a979341d0bcf0d9b8696b65054bec5838"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">tableTop_object_detection_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00060">tabletop_object_detection.h:60</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a3225e48172e84101b8ae82a8c9dd08dd"><div class="ttname"><a href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector&lt; pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &gt; get_segmented_objects_simple()</div><div class="ttdoc">Get the detected objects as a vector of point clouds. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00438">tabletop_object_detection.cpp:438</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a3225e48172e84101b8ae82a8c9dd08dd"><div class="ttname"><a href="classTableTop__Object__Detection.html#a3225e48172e84101b8ae82a8c9dd08dd">TableTop_Object_Detection::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector&lt; pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; &gt; get_segmented_objects_simple()</div><div class="ttdoc">Get the detected objects as a vector of point clouds. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00458">tabletop_object_detection.cpp:458</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a0545fba1336d1a337d6693b4b85bac04"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00063">tabletop_object_detection.h:63</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_af919465ec8fa6ab2a26bcee382854db0"><div class="ttname"><a href="classTableTop__Object__Detection.html#af919465ec8fa6ab2a26bcee382854db0">TableTop_Object_Detection::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00109">tabletop_object_detection.h:109</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a832ef2fe70977d729007e61e6ccb770a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a832ef2fe70977d729007e61e6ccb770a">TableTop_Object_Detection::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00099">tabletop_object_detection.h:99</a></div></div>
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-Generated on Fri Feb 19 2016 18:47:13 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
+Generated on Fri Feb 19 2016 21:02:56 for tabletop_object_detection by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/trunk/doc/html/tabletop__object__detection__test_8cpp_source.html b/trunk/doc/html/tabletop__object__detection__test_8cpp_source.html
index e62aadf..fefc60b 100644
--- a/trunk/doc/html/tabletop__object__detection__test_8cpp_source.html
+++ b/trunk/doc/html/tabletop__object__detection__test_8cpp_source.html
@@ -99,8 +99,8 @@
 <div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;   }</div>
 <div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div>
 <div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// parameters for the LCCP segmentation</span></div>
-<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html">TableTop_Object_Detection</a> segLCCP;</div>
-<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> opt = segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">get_default_parameters</a>();</div>
+<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <a class="code" href="classTableTop__Object__Detection.html">TableTop_Object_Detection</a> seg;</div>
+<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a> opt = seg.<a class="code" href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">get_default_parameters</a>();</div>
 <div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div>
 <div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// ------------------- parsing the inputs ----------------------------     </span></div>
 <div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">//--------------------------------------------------------------------</span></div>
@@ -133,11 +133,11 @@
 <div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  }</div>
 <div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">//----------------------------------------</span></div>
 <div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//TableTop_Object_Detection segLCCP;</span></div>
-<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  std::vector&lt;Object&gt; seg_objs; <span class="comment">//(&quot;seg_objs&quot; stands for &quot;filtered objects&quot;) </span></div>
-<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">init</a>(*cloud,opt);</div>
-<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">print_parameters</a>();</div>
-<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">segment</a>();</div>
-<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  seg_objs = segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">get_segmented_objects</a>();</div>
+<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  std::vector&lt;Object&gt; seg_objs; <span class="comment">//(&quot;seg_objs&quot; stands for &quot;segmented objects&quot;) </span></div>
+<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">init</a>(*cloud,opt);</div>
+<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">print_parameters</a>();</div>
+<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">segment</a>();</div>
+<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  seg_objs = seg.<a class="code" href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">get_segmented_objects</a>();</div>
 <div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;\nDetected &quot;</span> &lt;&lt; seg_objs.size() &lt;&lt; <span class="stringliteral">&quot; objects.\n\n&quot;</span>;</div>
 <div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">//----------------------------------------</span></div>
 <div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div>
@@ -148,143 +148,145 @@
 <div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="comment">// show super voxels with normals and adiacency map </span></div>
 <div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <span class="keywordtype">bool</span> show_adjacency_map = <span class="keyword">true</span>;</div>
 <div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keywordtype">bool</span> show_super_voxel_normals = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">show_super_voxels</a>(viewer,show_adjacency_map,show_super_voxel_normals);  </div>
+<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">show_super_voxels</a>(viewer,show_adjacency_map,show_super_voxel_normals);  </div>
 <div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  </div>
 <div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;Press &#39;n&#39; to show the segmented objects\n&quot;</span>;</div>
 <div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">while</span> (!viewer-&gt;wasStopped () &amp;&amp; !pressed) <span class="comment">// the pressed variable is just usfull only for this first while (bad programming)</span></div>
 <div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      viewer-&gt;spinOnce (100);</div>
-<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">clean_viewer</a>(viewer);</div>
+<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">clean_viewer</a>(viewer);</div>
 <div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div>
 <div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="comment">// show the segmented objects, the result of the segmentation</span></div>
 <div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  std::cout &lt;&lt; <span class="stringliteral">&quot;\nClose the visualzier to go to the next step\n&quot;</span>;</div>
-<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">show_segmented_objects</a>(viewer);</div>
+<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">show_segmented_objects</a>(viewer);</div>
 <div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  <span class="keywordflow">while</span> (!viewer-&gt;wasStopped ()) <span class="comment">// the pressed variable is just usfull only for this first while (bad programming)</span></div>
 <div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      viewer-&gt;spinOnce (100);</div>
-<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  segLCCP.<a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">clean_viewer</a>(viewer);</div>
+<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">clean_viewer</a>(viewer);</div>
 <div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div>
-<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">if</span>(cloud-&gt;isOrganized())<span class="comment">//if the point cloud is organized we can work with the RGB image</span></div>
-<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  {</div>
-<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="comment">// recover the RGB IMAGE from the point cloud </span></div>
-<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    cv::Mat img_orignal(480, 640, CV_8UC3); <span class="comment">//create an image ( 3 channels, 8 bit image depth);</span></div>
-<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
-<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; img_orignal.rows; ++row)</div>
-<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    {</div>
-<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; img_orignal.cols; ++c)</div>
-<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {             </div>
-<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        </div>
-<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        pcl::PointXYZRGBA point = (*cloud)(c,row); <span class="comment">//note: there is a transformation in the reference frame of the pclò and the image!!!!!!!!!!!!!!!!</span></div>
-<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div>
-<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        uint8_t r = (uint8_t)point.r;</div>
-<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        uint8_t g = (uint8_t)point.g;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      </div>
-<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        uint8_t b = (uint8_t)point.b;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
-<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                  </div>
-<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        cv::Vec3b color;<span class="comment">//vector of colors             </span></div>
-<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        color.val[0] = b;</div>
-<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        color.val[1] = g;</div>
-<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        color.val[2] = r;</div>
-<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        img_orignal.at&lt;cv::Vec3b&gt;(row,c) = color;</div>
-<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
-<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    }</div>
-<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div>
-<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    cv::namedWindow(<span class="stringliteral">&quot;Original&quot;</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name &quot;MyWindow&quot;</span></div>
-<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    cv::imshow(<span class="stringliteral">&quot;Original&quot;</span>, img_orignal); <span class="comment">//display the image which is stored in the &#39;img&#39; in the &quot;MyWindow&quot; window</span></div>
-<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;You are now viewing the RGB image (recovered by the point cloud).&quot;</span></div>
-<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; Press whatever key to go further.&quot;</span>;</div>
-<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    cv::waitKey(0);</div>
-<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div>
-<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="comment">// displaying in the RGB image what are the pixels of the rgb image related to the segmented objects</span></div>
-<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;\nYou are now visualizing the results of the segmentation in the 2D rgb image.&quot;</span></div>
-<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; Press right arrow to visualize the next object, the left one to visualize the previous one, and ESC to exit.\n&quot;</span>;           </div>
-<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    </div>
-<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// to retireve the points in the RGB image we have to use a KdTree to get the points of the object</span></div>
-<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="comment">// in the input cloud              </span></div>
-<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    pcl::KdTreeFLANN&lt;pcl::PointXYZRGBA&gt; kdtree;</div>
-<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    kdtree.setInputCloud (cloud);</div>
-<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordtype">int</span> k = 0;</div>
-<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    uint32_t idx_v = 0; <span class="comment">//index of the object to work with </span></div>
-<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    cv::namedWindow(<span class="stringliteral">&quot;Segmented Results&quot;</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name &quot;MyWindow&quot;</span></div>
-<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">while</span>( (k != 27 &amp;&amp; k != 1048603) &amp;&amp; idx_v &lt; seg_objs.size() &amp;&amp; idx_v &gt;= 0) <span class="comment">//while it ESC is not pressed </span></div>
-<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    {</div>
-<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">if</span>(seg_objs[idx_v].object_cloud.points.size() &gt; 400)</div>
-<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
-<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div>
-<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        cv::Mat img(480, 640, CV_8UC3,cv::Scalar(255,255,255)); <span class="comment">//create an image ( 3 channels, 8 bit image depth);</span></div>
+<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  seg.<a class="code" href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">reset</a>(); <span class="comment">// free memory</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div>
+<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keywordflow">if</span>(cloud-&gt;isOrganized())<span class="comment">//if the point cloud is organized we can work with the RGB image</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  {</div>
+<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">// recover the RGB IMAGE from the point cloud </span></div>
+<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    cv::Mat img_orignal(480, 640, CV_8UC3); <span class="comment">//create an image ( 3 channels, 8 bit image depth);</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div>
+<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row &lt; img_orignal.rows; ++row)</div>
+<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    {</div>
+<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c &lt; img_orignal.cols; ++c)</div>
+<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      {             </div>
+<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        </div>
+<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        pcl::PointXYZRGBA point = (*cloud)(c,row); <span class="comment">//note: there is a transformation in the reference frame of the pclò and the image!!!!!!!!!!!!!!!!</span></div>
+<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div>
+<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        uint8_t r = (uint8_t)point.r;</div>
+<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        uint8_t g = (uint8_t)point.g;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      </div>
+<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        uint8_t b = (uint8_t)point.b;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
+<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                  </div>
+<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        cv::Vec3b color;<span class="comment">//vector of colors             </span></div>
+<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        color.val[0] = b;</div>
+<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        color.val[1] = g;</div>
+<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        color.val[2] = r;</div>
+<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        img_orignal.at&lt;cv::Vec3b&gt;(row,c) = color;</div>
+<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
+<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
+<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div>
+<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    cv::namedWindow(<span class="stringliteral">&quot;Original&quot;</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name &quot;MyWindow&quot;</span></div>
+<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    cv::imshow(<span class="stringliteral">&quot;Original&quot;</span>, img_orignal); <span class="comment">//display the image which is stored in the &#39;img&#39; in the &quot;MyWindow&quot; window</span></div>
+<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;You are now viewing the RGB image (recovered by the point cloud).&quot;</span></div>
+<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; Press whatever key to go further.&quot;</span>;</div>
+<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    cv::waitKey(0);</div>
+<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div>
+<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="comment">// displaying in the RGB image what are the pixels of the rgb image related to the segmented objects</span></div>
+<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;\nYou are now visualizing the results of the segmentation in the 2D rgb image.&quot;</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; Press right arrow to visualize the next object, the left one to visualize the previous one, and ESC to exit.\n&quot;</span>;           </div>
+<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    </div>
+<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="comment">// to retireve the points in the RGB image we have to use a KdTree to get the points of the object</span></div>
+<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="comment">// in the input cloud              </span></div>
+<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    pcl::KdTreeFLANN&lt;pcl::PointXYZRGBA&gt; kdtree;</div>
+<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    kdtree.setInputCloud (cloud);</div>
+<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordtype">int</span> k = 0;</div>
+<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    uint32_t idx_v = 0; <span class="comment">//index of the object to work with </span></div>
+<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    cv::namedWindow(<span class="stringliteral">&quot;Segmented Results&quot;</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name &quot;MyWindow&quot;</span></div>
+<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">while</span>( (k != 27 &amp;&amp; k != 1048603) &amp;&amp; idx_v &lt; seg_objs.size() &amp;&amp; idx_v &gt;= 0) <span class="comment">//while it ESC is not pressed </span></div>
+<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
+<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">if</span>(seg_objs[idx_v].object_cloud.points.size() &gt; 400)</div>
+<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
 <div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;</div>
-<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="comment">//fill the matrix &quot;img&quot; with only the points of the current object</span></div>
-<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; seg_objs[idx_v].object_cloud.points.size(); ++i)</div>
-<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        {</div>
-<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          pcl::PointXYZRGBA searchPoint;</div>
-<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;          searchPoint.x = seg_objs[idx_v].object_cloud.points[i].x;</div>
-<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          searchPoint.y = seg_objs[idx_v].object_cloud.points[i].y;</div>
-<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          searchPoint.z = seg_objs[idx_v].object_cloud.points[i].z;</div>
-<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          std::vector&lt;int&gt; pointIdxNKNSearch(1);</div>
-<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          std::vector&lt;float&gt; pointNKNSquaredDistance(1);</div>
-<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div>
-<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          <span class="keywordflow">if</span> ( kdtree.nearestKSearch (searchPoint, 1, pointIdxNKNSearch, pointNKNSquaredDistance) &gt; 0 )</div>
-<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;          {</div>
-<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            pcl::PointXYZRGBA point = cloud-&gt;points[pointIdxNKNSearch[0]];         </div>
-<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div>
-<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            uint8_t r = (uint8_t)point.r;</div>
-<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            uint8_t g = (uint8_t)point.g;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
-<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            uint8_t b = (uint8_t)point.b;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
-<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                    </div>
-<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            cv::Vec3b color; <span class="comment">//vector of colors             </span></div>
-<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            color.val[0] = b;</div>
-<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            color.val[1] = g;</div>
-<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            color.val[2] = r;</div>
-<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div>
-<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            <span class="keywordtype">float</span> x,y;</div>
-<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            y = (<span class="keywordtype">int</span>)(pointIdxNKNSearch[0]/cloud-&gt;width);</div>
-<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            x = pointIdxNKNSearch[0] - y*cloud-&gt;width;</div>
-<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            img.at&lt;cv::Vec3b&gt;(y,x) = color; <span class="comment">//transformation coordinates</span></div>
-<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          }</div>
-<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        }</div>
-<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div>
-<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Segmented Results&quot;</span>, img); <span class="comment">//display the image which is stored in the &#39;img&#39; in the &quot;MyWindow&quot; window</span></div>
+<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        cv::Mat img(480, 640, CV_8UC3,cv::Scalar(255,255,255)); <span class="comment">//create an image ( 3 channels, 8 bit image depth);</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div>
+<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="comment">//fill the matrix &quot;img&quot; with only the points of the current object</span></div>
+<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; seg_objs[idx_v].object_cloud.points.size(); ++i)</div>
+<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
+<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          pcl::PointXYZRGBA searchPoint;</div>
+<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;          searchPoint.x = seg_objs[idx_v].object_cloud.points[i].x;</div>
+<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;          searchPoint.y = seg_objs[idx_v].object_cloud.points[i].y;</div>
+<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          searchPoint.z = seg_objs[idx_v].object_cloud.points[i].z;</div>
+<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          std::vector&lt;int&gt; pointIdxNKNSearch(1);</div>
+<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          std::vector&lt;float&gt; pointNKNSquaredDistance(1);</div>
+<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div>
+<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          <span class="keywordflow">if</span> ( kdtree.nearestKSearch (searchPoint, 1, pointIdxNKNSearch, pointNKNSquaredDistance) &gt; 0 )</div>
+<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;          {</div>
+<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;            pcl::PointXYZRGBA point = cloud-&gt;points[pointIdxNKNSearch[0]];         </div>
+<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;</div>
+<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            uint8_t r = (uint8_t)point.r;</div>
+<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            uint8_t g = (uint8_t)point.g;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
+<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            uint8_t b = (uint8_t)point.b;                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     </div>
+<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;                    </div>
+<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            cv::Vec3b color; <span class="comment">//vector of colors             </span></div>
+<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            color.val[0] = b;</div>
+<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            color.val[1] = g;</div>
+<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            color.val[2] = r;</div>
+<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;</div>
+<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;            <span class="keywordtype">float</span> x,y;</div>
+<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;            y = (<span class="keywordtype">int</span>)(pointIdxNKNSearch[0]/cloud-&gt;width);</div>
+<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            x = pointIdxNKNSearch[0] - y*cloud-&gt;width;</div>
+<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            img.at&lt;cv::Vec3b&gt;(y,x) = color; <span class="comment">//transformation coordinates</span></div>
+<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          }</div>
+<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        }</div>
 <div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;</div>
-<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        k = cv::waitKey(0);</div>
-<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;Object: &quot;</span> &lt;&lt; idx_v &lt;&lt; std::endl;</div>
-<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
-<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div>
-<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">if</span>( k == 65363 || k == 0 || k == 1113939) <span class="comment">// right arrow</span></div>
-<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        idx_v++;</div>
-<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">if</span>( k == 65361 || k == 1113937) <span class="comment">// left arrow</span></div>
-<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        idx_v &gt; 0 ? idx_v-- : idx_v = 0;</div>
-<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    }</div>
-<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  }</div>
-<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">else</span></div>
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-<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
-<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordflow">return</span> (0);</div>
-<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div>
-<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;</div>
+<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        cv::imshow(<span class="stringliteral">&quot;Segmented Results&quot;</span>, img); <span class="comment">//display the image which is stored in the &#39;img&#39; in the &quot;MyWindow&quot; window</span></div>
+<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;Object: &quot;</span> &lt;&lt; idx_v + 1 &lt;&lt; <span class="stringliteral">&quot; of &quot;</span> &lt;&lt; seg_objs.size() &lt;&lt; <span class="stringliteral">&quot; objects.&quot;</span> &lt;&lt; std::endl;</div>
+<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        k = cv::waitKey(0);</div>
+<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
+<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div>
+<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">if</span>( k == 65363 || k == 0 || k == 1113939) <span class="comment">// right arrow</span></div>
+<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        idx_v++;</div>
+<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">if</span>( k == 65361 || k == 1113937) <span class="comment">// left arrow</span></div>
+<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        idx_v &gt; 0 ? idx_v-- : idx_v = 0;</div>
+<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    }</div>
+<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
+<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;The point cloud is not organized&quot;</span>;</div>
+<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
+<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="keywordflow">return</span> (0);</div>
+<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;}</div>
+<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div>
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 <div class="ttc" id="structtableTop__object__detection__parameters_html_adbd04002cc3f21b67dedc7d5a4817ea9"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#adbd04002cc3f21b67dedc7d5a4817ea9">tableTop_object_detection_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00059">tabletop_object_detection.h:59</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html"><div class="ttname"><a href="structtableTop__object__detection__parameters.html">tableTop_object_detection_parameters</a></div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00045">tabletop_object_detection.h:45</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_af9edebad24574492fb986884155cecd3"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#af9edebad24574492fb986884155cecd3">tableTop_object_detection_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00056">tabletop_object_detection.h:56</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00414">tabletop_object_detection.cpp:414</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a5b99f038253f4bb3282b3ffea82cd444"><div class="ttname"><a href="classTableTop__Object__Detection.html#a5b99f038253f4bb3282b3ffea82cd444">TableTop_Object_Detection::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">clean all the pointclouds or shapes introduced by the class in the viewer </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00434">tabletop_object_detection.cpp:434</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a25ae1cdac1117e64e8e14b2c1cd6c361"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a25ae1cdac1117e64e8e14b2c1cd6c361">tableTop_object_detection_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00057">tabletop_object_detection.h:57</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a1cc4d45794c3a1e232d7a5f43243622e"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a1cc4d45794c3a1e232d7a5f43243622e">tableTop_object_detection_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00051">tabletop_object_detection.h:51</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a5b5cf25fa26e9d6a5762ccaaa59bd980"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a5b5cf25fa26e9d6a5762ccaaa59bd980">tableTop_object_detection_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00050">tabletop_object_detection.h:50</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00388">tabletop_object_detection.cpp:388</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00305">tabletop_object_detection.cpp:305</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00450">tabletop_object_detection.cpp:450</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_abe6dd4074db8cec51da0e85d4841c2e9"><div class="ttname"><a href="classTableTop__Object__Detection.html#abe6dd4074db8cec51da0e85d4841c2e9">TableTop_Object_Detection::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00408">tabletop_object_detection.cpp:408</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a04a52e6b5c3c906514a0ef111075f93e"><div class="ttname"><a href="classTableTop__Object__Detection.html#a04a52e6b5c3c906514a0ef111075f93e">TableTop_Object_Detection::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr&lt; pcl::visualization::PCLVisualizer &gt; &amp;viewer, bool show_adjacency_map, bool show_super_voxel_normals)</div><div class="ttdoc">shows in the viewer the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00325">tabletop_object_detection.cpp:325</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_ad13b6dd411e0a557a4de7a9323da33bb"><div class="ttname"><a href="classTableTop__Object__Detection.html#ad13b6dd411e0a557a4de7a9323da33bb">TableTop_Object_Detection::print_parameters</a></div><div class="ttdeci">void print_parameters()</div><div class="ttdoc">Print the parameters of the algorithm in the shell. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00470">tabletop_object_detection.cpp:470</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_aad3a5a13616c968ec81f2ed95eb8ef6c"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#aad3a5a13616c968ec81f2ed95eb8ef6c">tableTop_object_detection_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00053">tabletop_object_detection.h:53</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00433">tabletop_object_detection.cpp:433</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a98e6dbcffc628ec9ff8c0b91bd07bf7d"><div class="ttname"><a href="classTableTop__Object__Detection.html#a98e6dbcffc628ec9ff8c0b91bd07bf7d">TableTop_Object_Detection::get_segmented_objects</a></div><div class="ttdeci">std::vector&lt; Object &gt; get_segmented_objects()</div><div class="ttdoc">Get the detected objects as a vector of the variable Object. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00453">tabletop_object_detection.cpp:453</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_af6f6a38de376991aae5e6bf3ff6d4206"><div class="ttname"><a href="classTableTop__Object__Detection.html#af6f6a38de376991aae5e6bf3ff6d4206">TableTop_Object_Detection::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the publis members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00030">tabletop_object_detection.cpp:30</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ab0d42a5811ff6ff88e5364462b891adc"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ab0d42a5811ff6ff88e5364462b891adc">tableTop_object_detection_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00058">tabletop_object_detection.h:58</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_abd2df80ddd63d2527fdb3e2173dfa7bd"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#abd2df80ddd63d2527fdb3e2173dfa7bd">tableTop_object_detection_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00049">tabletop_object_detection.h:49</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html_a40051e60619a46e0a1fe3df06a6367d9"><div class="ttname"><a href="classTableTop__Object__Detection.html#a40051e60619a46e0a1fe3df06a6367d9">TableTop_Object_Detection::init</a></div><div class="ttdeci">void init(pcl::PointCloud&lt; pcl::PointXYZRGBA &gt; input_cloud, tableTop_object_detection_parameters &amp;opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00013">tabletop_object_detection.cpp:13</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ac427e4c80d7791bbe503f560740aee88"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ac427e4c80d7791bbe503f560740aee88">tableTop_object_detection_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00052">tabletop_object_detection.h:52</a></div></div>
 <div class="ttc" id="classTableTop__Object__Detection_html"><div class="ttname"><a href="classTableTop__Object__Detection.html">TableTop_Object_Detection</a></div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00091">tabletop_object_detection.h:91</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_ad839812934dce3dc30bfce50a6c7979b"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#ad839812934dce3dc30bfce50a6c7979b">tableTop_object_detection_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00048">tabletop_object_detection.h:48</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00198">tabletop_object_detection.cpp:198</a></div></div>
-<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00170">tabletop_object_detection.cpp:170</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a82b13b33ede8b98cc506715700f5760a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a82b13b33ede8b98cc506715700f5760a">TableTop_Object_Detection::segment</a></div><div class="ttdeci">void segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00212">tabletop_object_detection.cpp:212</a></div></div>
+<div class="ttc" id="classTableTop__Object__Detection_html_a890c8e6be3cae5aa41b8b2ecbc3bf34a"><div class="ttname"><a href="classTableTop__Object__Detection.html#a890c8e6be3cae5aa41b8b2ecbc3bf34a">TableTop_Object_Detection::get_default_parameters</a></div><div class="ttdeci">tableTop_object_detection_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8cpp_source.html#l00184">tabletop_object_detection.cpp:184</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a979341d0bcf0d9b8696b65054bec5838"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a979341d0bcf0d9b8696b65054bec5838">tableTop_object_detection_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00060">tabletop_object_detection.h:60</a></div></div>
 <div class="ttc" id="structtableTop__object__detection__parameters_html_a0545fba1336d1a337d6693b4b85bac04"><div class="ttname"><a href="structtableTop__object__detection__parameters.html#a0545fba1336d1a337d6693b4b85bac04">tableTop_object_detection_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tabletop__object__detection_8h_source.html#l00063">tabletop_object_detection.h:63</a></div></div>
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diff --git a/trunk/src/examples/tabletop_object_detection_test.cpp b/trunk/src/examples/tabletop_object_detection_test.cpp
index a8954cc..c08959c 100644
--- a/trunk/src/examples/tabletop_object_detection_test.cpp
+++ b/trunk/src/examples/tabletop_object_detection_test.cpp
@@ -71,8 +71,8 @@ main (int argc, char ** argv)
    }
 
   // parameters for the LCCP segmentation
-  TableTop_Object_Detection segLCCP;
-  tableTop_object_detection_parameters opt = segLCCP.get_default_parameters();
+  TableTop_Object_Detection seg;
+  tableTop_object_detection_parameters opt = seg.get_default_parameters();
 
   // ------------------- parsing the inputs ----------------------------     
   //--------------------------------------------------------------------
@@ -106,10 +106,10 @@ main (int argc, char ** argv)
   //----------------------------------------
   //TableTop_Object_Detection segLCCP;
   std::vector<Object> seg_objs; //("seg_objs" stands for "segmented objects") 
-  segLCCP.init(*cloud,opt);
-  segLCCP.print_parameters();
-  segLCCP.segment();
-  seg_objs = segLCCP.get_segmented_objects();
+  seg.init(*cloud,opt);
+  seg.print_parameters();
+  seg.segment();
+  seg_objs = seg.get_segmented_objects();
   std::cout << "\nDetected " << seg_objs.size() << " objects.\n\n";
   //----------------------------------------
 
@@ -121,19 +121,21 @@ main (int argc, char ** argv)
   // show super voxels with normals and adiacency map 
   bool show_adjacency_map = true;
   bool show_super_voxel_normals = true;
-  segLCCP.show_super_voxels(viewer,show_adjacency_map,show_super_voxel_normals);  
+  seg.show_super_voxels(viewer,show_adjacency_map,show_super_voxel_normals);  
   
   std::cout << "Press 'n' to show the segmented objects\n";
   while (!viewer->wasStopped () && !pressed) // the pressed variable is just usfull only for this first while (bad programming)
       viewer->spinOnce (100);
-  segLCCP.clean_viewer(viewer);
+  seg.clean_viewer(viewer);
 
   // show the segmented objects, the result of the segmentation
   std::cout << "\nClose the visualzier to go to the next step\n";
-  segLCCP.show_segmented_objects(viewer);
+  seg.show_segmented_objects(viewer);
   while (!viewer->wasStopped ()) // the pressed variable is just usfull only for this first while (bad programming)
       viewer->spinOnce (100);
-  segLCCP.clean_viewer(viewer);
+  seg.clean_viewer(viewer);
+
+  seg.reset(); // free memory
 
   if(cloud->isOrganized())//if the point cloud is organized we can work with the RGB image
   {
diff --git a/trunk/src/tabletop_object_detection.cpp b/trunk/src/tabletop_object_detection.cpp
index dff77b2..34aa46c 100644
--- a/trunk/src/tabletop_object_detection.cpp
+++ b/trunk/src/tabletop_object_detection.cpp
@@ -14,7 +14,7 @@ void TableTop_Object_Detection::init(pcl::PointCloud<pcl::PointXYZRGBA> input_cl
               tableTop_object_detection_parameters &opt)
 {
   this->cloud = input_cloud.makeShared();
-  this->filt_objs.resize(0);
+  this->detected_objects.resize(0);
   set_parameters(opt);
   this->initialized = true;
 } 
@@ -22,11 +22,23 @@ void TableTop_Object_Detection::init(pcl::PointCloud<pcl::PointXYZRGBA> input_cl
 void TableTop_Object_Detection::init(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud)
 {
   this->cloud = input_cloud.makeShared();
-  this->filt_objs.resize(0);
+  this->detected_objects.resize(0);
   set_default_parameters();
   this->initialized = true;
 } 
 
+void TableTop_Object_Detection::reset()
+{
+  this->cloud->points.resize(0);
+  this->detected_objects.resize(0);
+  this->lccp_labeled_cloud->points.resize(0);
+  this->labeled_voxel_cloud->points.resize(0);
+  this->sv_normal_cloud->points.resize(0);
+  this->supervoxel_clusters.clear();
+  this->supervoxel_adjacency.clear();
+  set_default_parameters();
+}
+
 void TableTop_Object_Detection::set_parameters(tableTop_object_detection_parameters & opt)
 {
 
@@ -277,26 +289,26 @@ void TableTop_Object_Detection::segment()
 
     //in this way we enlarges the vector everytime we encounter a greater label. So we don't need to pass all 
     // labeeld point cloud to see what is the greater label, and then to resize the vector. 
-    if(idx >= filt_objs.size()) // keep in mind that there is also the label 0! 
-      filt_objs.resize(idx+1);
+    if(idx >= detected_objects.size()) // keep in mind that there is also the label 0! 
+      detected_objects.resize(idx+1);
         
     pcl::PointXYZRGBA tmp_point_rgb;
     tmp_point_rgb = cloud->points.at(i);
-    filt_objs[idx].object_cloud.points.push_back(tmp_point_rgb);
+    detected_objects[idx].object_cloud.points.push_back(tmp_point_rgb);
 
-    filt_objs[idx].label = (int)idx;
+    detected_objects[idx].label = (int)idx;
   } 
 
   //remove segments with too few points
   // it will removes te ones with few points or the ones with no points (these are created because of the labels of lccp)
-  int size = filt_objs.size();
+  int size = detected_objects.size();
   int i = 0;
   while (i < size)
   {
-    if(filt_objs[i].object_cloud.size() < this->th_points)
+    if(detected_objects[i].object_cloud.size() < this->th_points)
     {
-      filt_objs.erase(filt_objs.begin() + i);
-      size = filt_objs.size();
+      detected_objects.erase(detected_objects.begin() + i);
+      size = detected_objects.size();
     }
     else
       i++;
@@ -314,7 +326,7 @@ void TableTop_Object_Detection::show_super_voxels(boost::shared_ptr<pcl::visuali
                        bool show_adjacency_map,
                        bool show_super_voxel_normals)
 {
-  if(this->filt_objs.size() > 0)
+  if(this->detected_objects.size() > 0)
   {
     viewer->addPointCloud (this->labeled_voxel_cloud, "supervoxel_cloud");
 
@@ -358,7 +370,7 @@ void TableTop_Object_Detection::show_super_voxels(boost::shared_ptr<pcl::visuali
 
 void TableTop_Object_Detection::show_super_voxels(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)
 {
-  if(this->filt_objs.size() > 0)
+  if(this->detected_objects.size() > 0)
   {
     viewer->addPointCloud (this->labeled_voxel_cloud, "supervoxel_cloud");  
     viewer->addPointCloudNormals<pcl::PointNormal> (this->sv_normal_cloud,1,0.05f, "supervoxel_normals");
@@ -397,17 +409,17 @@ void TableTop_Object_Detection::show_segmented_objects(boost::shared_ptr<pcl::vi
 {
   pcl::PointCloud<pcl::PointXYZL> objects_cloud;
 
-  for (int i = 0; i < this->filt_objs.size(); ++i)
+  for (int i = 0; i < this->detected_objects.size(); ++i)
   {
     pcl::PointCloud<pcl::PointXYZL> tmp_cloud;
 
-    for (int p = 0; p < this->filt_objs[i].object_cloud.size(); ++p)
+    for (int p = 0; p < this->detected_objects[i].object_cloud.size(); ++p)
     {
       pcl::PointXYZL tmp_point;
-      tmp_point.x = this->filt_objs[i].object_cloud[p].x;
-      tmp_point.y = this->filt_objs[i].object_cloud[p].y;
-      tmp_point.z = this->filt_objs[i].object_cloud[p].z;
-      tmp_point.label = this->filt_objs[i].label;
+      tmp_point.x = this->detected_objects[i].object_cloud[p].x;
+      tmp_point.y = this->detected_objects[i].object_cloud[p].y;
+      tmp_point.z = this->detected_objects[i].object_cloud[p].z;
+      tmp_point.label = this->detected_objects[i].label;
       tmp_cloud.points.push_back(tmp_point);
     }
     
@@ -440,16 +452,16 @@ void TableTop_Object_Detection::clean_viewer(boost::shared_ptr<pcl::visualizatio
 
 std::vector<Object> TableTop_Object_Detection::get_segmented_objects()
 {
-  return this->filt_objs;
+  return this->detected_objects;
 }
 
 std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > TableTop_Object_Detection::get_segmented_objects_simple()
 {
   std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > obj_vec;
   
-  for (int i = 0; i < this->filt_objs.size(); ++i)
+  for (int i = 0; i < this->detected_objects.size(); ++i)
   {
-    obj_vec.push_back(filt_objs[i].object_cloud);
+    obj_vec.push_back(detected_objects[i].object_cloud);
   }
 
   return obj_vec;
@@ -478,6 +490,11 @@ void TableTop_Object_Detection::print_parameters()
   return;  
 }
 
+pcl::PointCloud<pcl::PointXYZRGBA>::Ptr TableTop_Object_Detection::get_input_cloud()
+{
+  return this->cloud;
+}
+
 pcl::PointCloud<pcl::PointXYZL> TableTop_Object_Detection::get_labeled_voxel_cloud()
 {
   return *(this->labeled_voxel_cloud);
diff --git a/trunk/src/tabletop_object_detection.h b/trunk/src/tabletop_object_detection.h
index d75794e..b8d5d14 100644
--- a/trunk/src/tabletop_object_detection.h
+++ b/trunk/src/tabletop_object_detection.h
@@ -114,7 +114,7 @@ class TableTop_Object_Detection
     static const int TH_POINTS = 400; /**< Default value of the threshold of minimum points required to consider a cluster as valid */
     //-------------------
 
-    std::vector<Object> filt_objs;
+    std::vector<Object> detected_objects;
     pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
     pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud;
     std::multimap<uint32_t, uint32_t> supervoxel_adjacency;
@@ -197,6 +197,11 @@ class TableTop_Object_Detection
     */
     void init(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud);
 
+    /*! \brief reset all the publis members 
+    * reset all the public members.
+    */
+    void reset();
+
     /*! \brief get the default parameters of the algorithm
     */  
     tableTop_object_detection_parameters get_default_parameters(); 
@@ -244,6 +249,10 @@ class TableTop_Object_Detection
     */
     void print_parameters();
 
+    /*! \brief returns input cloud
+    */
+    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr get_input_cloud();
+
     /*! \brief returns labeld voxel cloud
     */
     pcl::PointCloud<pcl::PointXYZL> get_labeled_voxel_cloud();
-- 
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