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+  ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec1569716434.dir/link.txt --verbose=1]
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     arg [-zrelro] ==> ignore
     arg [-o] ==> ignore
-    arg [cmTryCompileExec532000627] ==> ignore
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     arg [/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/crti.o] ==> ignore
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-    arg [CMakeFiles/cmTryCompileExec532000627.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [CMakeFiles/cmTryCompileExec1569716434.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
     arg [-lstdc++] ==> lib [stdc++]
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diff --git a/trunk/build/install_manifest.txt b/trunk/build/install_manifest.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7a95dbe8c1ce65fd24db34c6627e17bdbf8cc5ec
--- /dev/null
+++ b/trunk/build/install_manifest.txt
@@ -0,0 +1,3 @@
+/usr/local/lib/iridrivers/libtos_supervoxels.so
+/usr/local/include/iridrivers/tos_supervoxels.h
+/usr/share/cmake-2.8/Modules/Findtos_supervoxels.cmake
diff --git a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/CXX.includecache b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/CXX.includecache
index 446149b87835dd164fa2db111a578c3c865d8611..b7953eab3a7016b1c8f1a36d4a247437f7ee89e0 100644
--- a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/CXX.includecache
+++ b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/CXX.includecache
@@ -37,12 +37,6 @@ pcl/segmentation/lccp_segmentation.h
 -
 vtkPolyLine.h
 -
-pcl/sample_consensus/method_types.h
--
-pcl/sample_consensus/model_types.h
--
-pcl/segmentation/sac_segmentation.h
--
 pcl/filters/extract_indices.h
 -
 pcl/surface/convex_hull.h
diff --git a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o
index 606b530cc4efc6db13486cbaaf51d2e7047e5af7..05cb12abc48fb3340c1434558cbdaa88ce31aa80 100644
Binary files a/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o and b/trunk/build/src/CMakeFiles/tos_supervoxels.dir/tos_supervoxels.o differ
diff --git a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/CXX.includecache b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/CXX.includecache
index ddcf118386615e5b7db87aad8a983c2be83003ac..bf17cff0664d55bbfee91000250d2fe99c5df023 100644
--- a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/CXX.includecache
+++ b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/CXX.includecache
@@ -33,12 +33,6 @@ pcl/segmentation/lccp_segmentation.h
 -
 vtkPolyLine.h
 -
-pcl/sample_consensus/method_types.h
--
-pcl/sample_consensus/model_types.h
--
-pcl/segmentation/sac_segmentation.h
--
 pcl/filters/extract_indices.h
 -
 pcl/surface/convex_hull.h
diff --git a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o
index e913db3393d7cba1c45c3118d9df9036687349bf..2da632b413c8a42d863b49a97d8e68c463f2312a 100644
Binary files a/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o and b/trunk/build/src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.o differ
diff --git a/trunk/lib/libtos_supervoxels.so b/trunk/lib/libtos_supervoxels.so
index a7665d2f54f02aff81cef8f3e81256e07c2e3ec1..16bb41d050661ada50ea1ad23138043d90ba30bb 100755
Binary files a/trunk/lib/libtos_supervoxels.so and b/trunk/lib/libtos_supervoxels.so differ
diff --git a/trunk/src/tos_supervoxels.cpp b/trunk/src/tos_supervoxels.cpp
index 5df89c5f6946b628756e3f6d3dff872199e08cd0..a6ad1e94e8e801f9ef47aa7d9ebc5627f38035b0 100644
--- a/trunk/src/tos_supervoxels.cpp
+++ b/trunk/src/tos_supervoxels.cpp
@@ -154,7 +154,6 @@ void tos_supervoxels::detectObjectsOnTable(pcl::PointCloud<pcl::PointXYZRGBA>::P
   pcl::PointCloud<pcl::PointXYZRGBA>::Ptr convexHull(new pcl::PointCloud<pcl::PointXYZRGBA>);
  
   // Get the plane model, if present.
-  pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
   pcl::SACSegmentation<pcl::PointXYZRGBA> segmentation;
   segmentation.setInputCloud(cloud);
   segmentation.setModelType(pcl::SACMODEL_PLANE);
@@ -162,7 +161,7 @@ void tos_supervoxels::detectObjectsOnTable(pcl::PointCloud<pcl::PointXYZRGBA>::P
   segmentation.setDistanceThreshold(0.01);
   segmentation.setOptimizeCoefficients(true);
   pcl::PointIndices::Ptr planeIndices(new pcl::PointIndices);
-  segmentation.segment(*planeIndices, *coefficients);
+  segmentation.segment(*planeIndices, this->plane_coefficients);
 
   if (planeIndices->indices.size() == 0)
     std::cout << "Could not find a plane in the scene." << std::endl;
@@ -655,3 +654,7 @@ int tos_supervoxels::get_th_points()
 {
   return this->th_points;
 }
+pcl::ModelCoefficients tos_supervoxels::get_plane_coefficients()
+{
+  return this->plane_coefficients;
+}
\ No newline at end of file
diff --git a/trunk/src/tos_supervoxels.h b/trunk/src/tos_supervoxels.h
index db6bbb20d0cedb088b4c321bdd3e9ccffa9d875e..041b21daf55636e088056ce9f64b28cf50bf9d8d 100644
--- a/trunk/src/tos_supervoxels.h
+++ b/trunk/src/tos_supervoxels.h
@@ -17,9 +17,6 @@
 #include <pcl/segmentation/lccp_segmentation.h>
 #include <vtkPolyLine.h>
 
-#include <pcl/sample_consensus/method_types.h>
-#include <pcl/sample_consensus/model_types.h>
-#include <pcl/segmentation/sac_segmentation.h>
 #include <pcl/filters/extract_indices.h>
 #include <pcl/surface/convex_hull.h>
 #include <pcl/segmentation/extract_polygonal_prism_data.h>
@@ -157,6 +154,9 @@ class tos_supervoxels
     std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr > supervoxel_clusters;
     pcl::PointCloud<pcl::PointNormal>::Ptr sv_normal_cloud;
 
+    pcl::ModelCoefficients plane_coefficients;/**< coefficients of the table plane */
+
+
     /*! \brief shows supervoxel connections to viewer thorugh poly data shapes  
     *
     *  \param supervoxel_center center's point of the supervoxel
@@ -338,6 +338,8 @@ class tos_supervoxels
     double get_zmax();
     int get_th_points();
 
+    pcl::ModelCoefficients get_plane_coefficients();
+
 };
 
 #endif 
\ No newline at end of file