diff --git a/trunk/build/CMakeCache.txt b/trunk/build/CMakeCache.txt
new file mode 100644
index 0000000000000000000000000000000000000000..53d55f72ef03c7d6a4f3a242084f89560c3506bd
--- /dev/null
+++ b/trunk/build/CMakeCache.txt
@@ -0,0 +1,1006 @@
+# This is the CMakeCache file.
+# For build in directory: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//The threading library used by boost-thread
+BOOST_THREAD_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so
+
+//Boost chrono library (debug)
+Boost_CHRONO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so
+
+//Boost chrono library (release)
+Boost_CHRONO_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_chrono.so
+
+//Boost date_time library (debug)
+Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//Boost date_time library (release)
+Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//Boost filesystem library (debug)
+Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
+
+//Boost filesystem library (release)
+Boost_FILESYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/include
+
+//Boost iostreams library (debug)
+Boost_IOSTREAMS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so
+
+//Boost iostreams library (release)
+Boost_IOSTREAMS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so
+
+//Boost library directory
+Boost_LIBRARY_DIR:PATH=/usr/lib/x86_64-linux-gnu
+
+//Boost serialization library (debug)
+Boost_SERIALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_serialization.so
+
+//Boost serialization library (release)
+Boost_SERIALIZATION_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_serialization.so
+
+//Boost system library (debug)
+Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so
+
+//Boost system library (release)
+Boost_SYSTEM_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so
+
+//Boost thread library (debug)
+Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so
+
+//Boost thread library (release)
+Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_thread.so
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//For backwards compatibility, what version of CMake commands and
+// syntax should this version of CMake try to support.
+CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4
+
+//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
+// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler.
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//Flags used by the compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//C compiler.
+CMAKE_C_COMPILER:FILEPATH=/usr/bin/cc
+
+//Flags used by the compiler during all build types.
+CMAKE_C_FLAGS:STRING=
+
+//Flags used by the compiler during debug builds.
+CMAKE_C_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the compiler during release minsize builds.
+CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the compiler during release builds (/MD /Ob1 /Oi
+// /Ot /Oy /Gs will produce slightly less optimized but smaller
+// files).
+CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the compiler during Release with Debug Info builds.
+CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Flags used by the linker.
+CMAKE_EXE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules.
+CMAKE_MODULE_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=tos-supervoxels
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Flags used by the linker during the creation of dll's.
+CMAKE_SHARED_LINKER_FLAGS:STRING=' '
+
+//Flags used by the linker during debug builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during debug builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during release minsize builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during release builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during Release with Debug Info builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If true, cmake will use relative paths in makefiles and projects.
+CMAKE_USE_RELATIVE_PATHS:BOOL=OFF
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make. This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a file.
+DAVIDSDK_INCLUDE_DIR:PATH=DAVIDSDK_INCLUDE_DIR-NOTFOUND
+
+//Path to a library.
+DAVIDSDK_LIBRARY:FILEPATH=DAVIDSDK_LIBRARY-NOTFOUND
+
+//Graphviz Dot tool for using Doxygen
+DOXYGEN_DOT_EXECUTABLE:FILEPATH=/usr/bin/dot
+
+DOXYGEN_DOT_PATH:FILEPATH=/usr/bin
+
+//Doxygen documentation generation tool (http://www.doxygen.org)
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
+
+//DepthSense SDK directory
+DSSDK_DIR:PATH=DSSDK_DIR-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_DepthSense:FILEPATH=DSSDK_LIBRARY_DepthSense-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_DepthSensePlugins:FILEPATH=DSSDK_LIBRARY_DepthSensePlugins-NOTFOUND
+
+//Path to a library.
+DSSDK_LIBRARY_turbojpeg:FILEPATH=DSSDK_LIBRARY_turbojpeg-NOTFOUND
+
+//Path to a file.
+EIGEN_INCLUDE_DIRS:PATH=/usr/include/eigen3
+
+//Path to a file.
+ENSENSO_INCLUDE_DIR:PATH=ENSENSO_INCLUDE_DIR-NOTFOUND
+
+//Path to a library.
+ENSENSO_LIBRARY:FILEPATH=ENSENSO_LIBRARY-NOTFOUND
+
+//Single output directory for building all executables.
+EXECUTABLE_OUTPUT_PATH:PATH=
+
+//Path to a file.
+FLANN_INCLUDE_DIRS:PATH=/usr/include
+
+//Path to a library.
+FLANN_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
+
+//Path to a library.
+FLANN_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
+
+//Path to a file.
+IRI_DOC_DIR:PATH=IRI_DOC_DIR-NOTFOUND
+
+//Single output directory for building all libraries.
+LIBRARY_OUTPUT_PATH:PATH=
+
+//Path to a file.
+LIBUSB_1_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
+
+//Path to a file.
+OPENNI2_INCLUDE_DIRS:PATH=/usr/include/openni2
+
+//Path to a library.
+OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so
+
+//Path to a file.
+OPENNI_INCLUDE_DIRS:PATH=/usr/include/ni
+
+//Path to a library.
+OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so
+
+//Path where debug 3rdpaty OpenCV dependencies are located
+OpenCV_3RDPARTY_LIB_DIR_DBG:PATH=
+
+//Path where release 3rdpaty OpenCV dependencies are located
+OpenCV_3RDPARTY_LIB_DIR_OPT:PATH=
+
+OpenCV_CONFIG_PATH:FILEPATH=/usr/share/OpenCV
+
+//The directory containing a CMake configuration file for OpenCV.
+OpenCV_DIR:PATH=/usr/share/OpenCV
+
+//Path where debug OpenCV libraries are located
+OpenCV_LIB_DIR_DBG:PATH=
+
+//Path where release OpenCV libraries are located
+OpenCV_LIB_DIR_OPT:PATH=
+
+//path to 2d headers
+PCL_2D_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to common headers
+PCL_COMMON_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_common library
+PCL_COMMON_LIBRARY:FILEPATH=/usr/local/lib/libpcl_common.so
+
+//path to pcl_common library debug
+PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_common.so
+
+//The directory containing a CMake configuration file for PCL.
+PCL_DIR:PATH=/usr/local/share/pcl-1.8
+
+//path to features headers
+PCL_FEATURES_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_features library
+PCL_FEATURES_LIBRARY:FILEPATH=/usr/local/lib/libpcl_features.so
+
+//path to pcl_features library debug
+PCL_FEATURES_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_features.so
+
+//path to filters headers
+PCL_FILTERS_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_filters library
+PCL_FILTERS_LIBRARY:FILEPATH=/usr/local/lib/libpcl_filters.so
+
+//path to pcl_filters library debug
+PCL_FILTERS_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_filters.so
+
+//path to geometry headers
+PCL_GEOMETRY_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to io headers
+PCL_IO_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_io library
+PCL_IO_LIBRARY:FILEPATH=/usr/local/lib/libpcl_io.so
+
+//path to pcl_io library debug
+PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_io.so
+
+//path to kdtree headers
+PCL_KDTREE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_kdtree library
+PCL_KDTREE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_kdtree.so
+
+//path to pcl_kdtree library debug
+PCL_KDTREE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_kdtree.so
+
+//path to keypoints headers
+PCL_KEYPOINTS_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_keypoints library
+PCL_KEYPOINTS_LIBRARY:FILEPATH=/usr/local/lib/libpcl_keypoints.so
+
+//path to pcl_keypoints library debug
+PCL_KEYPOINTS_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_keypoints.so
+
+//path to ml headers
+PCL_ML_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_ml library
+PCL_ML_LIBRARY:FILEPATH=/usr/local/lib/libpcl_ml.so
+
+//path to pcl_ml library debug
+PCL_ML_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_ml.so
+
+//path to octree headers
+PCL_OCTREE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_octree library
+PCL_OCTREE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_octree.so
+
+//path to pcl_octree library debug
+PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_octree.so
+
+//path to outofcore headers
+PCL_OUTOFCORE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_outofcore library
+PCL_OUTOFCORE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_outofcore.so
+
+//path to pcl_outofcore library debug
+PCL_OUTOFCORE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_outofcore.so
+
+//path to people headers
+PCL_PEOPLE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_people library
+PCL_PEOPLE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_people.so
+
+//path to pcl_people library debug
+PCL_PEOPLE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_people.so
+
+//path to recognition headers
+PCL_RECOGNITION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_recognition library
+PCL_RECOGNITION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_recognition.so
+
+//path to pcl_recognition library debug
+PCL_RECOGNITION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_recognition.so
+
+//path to registration headers
+PCL_REGISTRATION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_registration library
+PCL_REGISTRATION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_registration.so
+
+//path to pcl_registration library debug
+PCL_REGISTRATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_registration.so
+
+//path to sample_consensus headers
+PCL_SAMPLE_CONSENSUS_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_sample_consensus library
+PCL_SAMPLE_CONSENSUS_LIBRARY:FILEPATH=/usr/local/lib/libpcl_sample_consensus.so
+
+//path to pcl_sample_consensus library debug
+PCL_SAMPLE_CONSENSUS_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_sample_consensus.so
+
+//path to search headers
+PCL_SEARCH_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_search library
+PCL_SEARCH_LIBRARY:FILEPATH=/usr/local/lib/libpcl_search.so
+
+//path to pcl_search library debug
+PCL_SEARCH_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_search.so
+
+//path to segmentation headers
+PCL_SEGMENTATION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_segmentation library
+PCL_SEGMENTATION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_segmentation.so
+
+//path to pcl_segmentation library debug
+PCL_SEGMENTATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_segmentation.so
+
+//path to stereo headers
+PCL_STEREO_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_stereo library
+PCL_STEREO_LIBRARY:FILEPATH=/usr/local/lib/libpcl_stereo.so
+
+//path to pcl_stereo library debug
+PCL_STEREO_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_stereo.so
+
+//path to surface headers
+PCL_SURFACE_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_surface library
+PCL_SURFACE_LIBRARY:FILEPATH=/usr/local/lib/libpcl_surface.so
+
+//path to pcl_surface library debug
+PCL_SURFACE_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_surface.so
+
+//path to tracking headers
+PCL_TRACKING_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_tracking library
+PCL_TRACKING_LIBRARY:FILEPATH=/usr/local/lib/libpcl_tracking.so
+
+//path to pcl_tracking library debug
+PCL_TRACKING_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_tracking.so
+
+//path to visualization headers
+PCL_VISUALIZATION_INCLUDE_DIR:PATH=/usr/local/include/pcl-1.8
+
+//path to pcl_visualization library
+PCL_VISUALIZATION_LIBRARY:FILEPATH=/usr/local/lib/libpcl_visualization.so
+
+//path to pcl_visualization library debug
+PCL_VISUALIZATION_LIBRARY_DEBUG:FILEPATH=/usr/local/lib/libpcl_visualization.so
+
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
+//Path to a file.
+QHULL_INCLUDE_DIRS:PATH=/usr/include
+
+//Path to a library.
+QHULL_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so
+
+//Path to a library.
+QHULL_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libqhull.so
+
+//RealSense SDK directory
+RSSDK_DIR:PATH=RSSDK_DIR-NOTFOUND
+
+//Path to a library.
+RSSDK_LIBRARY:FILEPATH=RSSDK_LIBRARY-NOTFOUND
+
+//Path to a library.
+RSSDK_LIBRARY_DEBUG:FILEPATH=RSSDK_LIBRARY_DEBUG-NOTFOUND
+
+//Value Computed by CMake
+tos-supervoxels_BINARY_DIR:STATIC=/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build
+
+//Value Computed by CMake
+tos-supervoxels_SOURCE_DIR:STATIC=/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk
+
+//Dependencies for the target
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+
+#if defined(__18CXX)
+# define ID_VOID_MAIN
+#endif
+
+#if defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+ /* __SUNPRO_C = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# else
+ /* __SUNPRO_C = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_C & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+ /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+ /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER % 10000)
+
+#elif defined(__IBMC__)
+# if defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+# else
+# if __IBMC__ >= 800
+# define COMPILER_ID "XL"
+# else
+# define COMPILER_ID "VisualAge"
+# endif
+ /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__ % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+ http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+/* sdcc, the small devices C compiler for embedded systems,
+ http://sdcc.sourceforge.net */
+#elif defined(SDCC)
+# define COMPILER_ID "SDCC"
+ /* SDCC = VRP */
+# define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+# define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(SDCC % 10)
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10)
+# else
+ /* _COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
+
+/* This compiler is either not known or is too old to define an
+ identification macro. Try to identify the platform and guess that
+ it is the native compiler. */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+
+/* Identify known platforms by name. */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#else /* unknown platform */
+# define PLATFORM_ID ""
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+ the architecture of the compiler being used. This is because
+ the compilers do not have flags that can change the architecture,
+ but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+# define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+# define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+# define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM)
+# define ARCHITECTURE_ID "ARM"
+
+# elif defined(_M_MIPS)
+# define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+# define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+# define ARCHITECTURE_ID ""
+# endif
+
+#else
+# define ARCHITECTURE_ID ""
+#endif
+
+/* Convert integer to decimal digit literals. */
+#define DEC(n) \
+ ('0' + (((n) / 10000000)%10)), \
+ ('0' + (((n) / 1000000)%10)), \
+ ('0' + (((n) / 100000)%10)), \
+ ('0' + (((n) / 10000)%10)), \
+ ('0' + (((n) / 1000)%10)), \
+ ('0' + (((n) / 100)%10)), \
+ ('0' + (((n) / 10)%10)), \
+ ('0' + ((n) % 10))
+
+/* Convert integer to hex digit literals. */
+#define HEX(n) \
+ ('0' + ((n)>>28 & 0xF)), \
+ ('0' + ((n)>>24 & 0xF)), \
+ ('0' + ((n)>>20 & 0xF)), \
+ ('0' + ((n)>>16 & 0xF)), \
+ ('0' + ((n)>>12 & 0xF)), \
+ ('0' + ((n)>>8 & 0xF)), \
+ ('0' + ((n)>>4 & 0xF)), \
+ ('0' + ((n) & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+ 'I', 'N', 'F', 'O', ':',
+ 'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+ COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+ '.', COMPILER_VERSION_MINOR,
+# ifdef COMPILER_VERSION_PATCH
+ '.', COMPILER_VERSION_PATCH,
+# ifdef COMPILER_VERSION_TWEAK
+ '.', COMPILER_VERSION_TWEAK,
+# endif
+# endif
+# endif
+ ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+ getting matched. Store it in a pointer rather than an array
+ because some compilers will just produce instructions to fill the
+ array rather than assigning a pointer to a static array. */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+int main(int argc, char* argv[])
+{
+ int require = 0;
+ require += info_compiler[argc];
+ require += info_platform[argc];
+ require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+ require += info_version[argc];
+#endif
+ (void)argv;
+ return require;
+}
+#endif
diff --git a/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out
new file mode 100755
index 0000000000000000000000000000000000000000..ddaaadc8f0be09eb9f5be82df6e9271de5cf5e27
Binary files /dev/null and b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdC/a.out differ
diff --git a/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e8220b26e508ad8289ae53743d2ffa316c17237f
--- /dev/null
+++ b/trunk/build/CMakeFiles/2.8.12.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,377 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+ recognize the extension without flags. Borland does not know .cxx for
+ example. */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+/* Version number components: V=Version, R=Revision, P=Patch
+ Version date components: YYYY=Year, MM=Month, DD=Day */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+ /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+ /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER % 10)
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+ /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+# define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH HEX(__CODEGEARC_VERSION__ & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+ /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "Watcom"
+ /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__WATCOMC__ % 100)
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+ /* __SUNPRO_CC = 0xVRRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# else
+ /* __SUNPRO_CC = 0xVRP */
+# define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+# define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+# define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+ /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+ /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000 % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER % 10000)
+
+#elif defined(__IBMCPP__)
+# if defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+# else
+# if __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+# else
+# define COMPILER_ID "VisualAge"
+# endif
+ /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__ % 10)
+# endif
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+ /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000 % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__ % 1000)
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# if defined(__GNUC_PATCHLEVEL__)
+# define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+ /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+# if _MSC_VER >= 1400
+ /* _MSC_FULL_VER = VVRRPPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+# else
+ /* _MSC_FULL_VER = VVRRPPPP */
+# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+# endif
+# endif
+# if defined(_MSC_BUILD)
+# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+/* Analog VisualDSP++ >= 4.5.6 */
+#elif defined(__VISUALDSPVERSION__)
+# define COMPILER_ID "ADSP"
+ /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF)
+
+/* Analog VisualDSP++ < 4.5.6 */
+#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+
+/* IAR Systems compiler for embedded systems.
+ http://www.iar.com */
+#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+ /* _SGI_COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION % 10)
+# else
+ /* _COMPILER_VERSION = VRP */
+# define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+# define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION % 10)
+# endif
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+ $(CMAKE_COMMAND) -E cmake_progress_start /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build/CMakeFiles 0
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+clean/fast: clean
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+.PHONY : tos_supervoxels_test.o
+
+# target to preprocess a source file
+tos_supervoxels_test.i:
+ cd /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build && $(MAKE) -f src/examples/CMakeFiles/tos_supervoxels_test.dir/build.make src/examples/CMakeFiles/tos_supervoxels_test.dir/tos_supervoxels_test.i
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+
+# target to generate assembly for a file
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+.PHONY : tos_supervoxels_test.s
+
+# Help Target
+help:
+ @echo "The following are some of the valid targets for this Makefile:"
+ @echo "... all (the default if no target is provided)"
+ @echo "... clean"
+ @echo "... depend"
+ @echo "... edit_cache"
+ @echo "... install"
+ @echo "... install/local"
+ @echo "... install/strip"
+ @echo "... list_install_components"
+ @echo "... rebuild_cache"
+ @echo "... tos_supervoxels_test"
+ @echo "... tos_supervoxels_test.o"
+ @echo "... tos_supervoxels_test.i"
+ @echo "... tos_supervoxels_test.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+ cd /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/build && $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
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diff --git a/trunk/build/src/examples/cmake_install.cmake b/trunk/build/src/examples/cmake_install.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..57b5f172bae3c56ad702db033474ec86dbd8e591
--- /dev/null
+++ b/trunk/build/src/examples/cmake_install.cmake
@@ -0,0 +1,34 @@
+# Install script for directory: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/examples
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+ SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+ IF(BUILD_TYPE)
+ STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+ CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+ ELSE(BUILD_TYPE)
+ SET(CMAKE_INSTALL_CONFIG_NAME "RELEASE")
+ ENDIF(BUILD_TYPE)
+ MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+ IF(COMPONENT)
+ MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+ SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+ ELSE(COMPONENT)
+ SET(CMAKE_INSTALL_COMPONENT)
+ ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+ SET(CMAKE_INSTALL_SO_NO_EXE "1")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
diff --git a/trunk/doc/html/annotated.html b/trunk/doc/html/annotated.html
index b5077262ca8eba68d354b006204419b81e234f87..3709b1429a6b75cadffbb4438f43282aa6a9efd0 100644
--- a/trunk/doc/html/annotated.html
+++ b/trunk/doc/html/annotated.html
@@ -57,7 +57,7 @@
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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 4762c3013f0499b856e5f9438a2017ebaae7f068..c91805a51c5327aeadddbf97a147fa050b42f79a 100644
--- a/trunk/doc/html/classes.html
+++ b/trunk/doc/html/classes.html
@@ -60,7 +60,7 @@
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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/classtos__supervoxels.html b/trunk/doc/html/classtos__supervoxels.html
index 8e32ddc9d154c3d4d1773dad731cfb4a5b1fa212..a7db1a3ab271013ed289aca4d07cbf8d31ed320f 100644
--- a/trunk/doc/html/classtos__supervoxels.html
+++ b/trunk/doc/html/classtos__supervoxels.html
@@ -73,16 +73,15 @@ Public Member Functions</h2></td></tr>
<tr class="separator:a4963a76d8759c326b3639967b23ff984"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a05e74b73d24d578914be111dca9a578d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05e74b73d24d578914be111dca9a578d"></a>
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">reset</a> ()</td></tr>
-<tr class="memdesc:a05e74b73d24d578914be111dca9a578d"><td class="mdescLeft"> </td><td class="mdescRight">reset all the publis members reset all the public members. <br/></td></tr>
+<tr class="memdesc:a05e74b73d24d578914be111dca9a578d"><td class="mdescLeft"> </td><td class="mdescRight">reset all the public members reset all the public members. <br/></td></tr>
<tr class="separator:a05e74b73d24d578914be111dca9a578d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a1aa263f14c3322d5aaedc123cd1e2b89"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1aa263f14c3322d5aaedc123cd1e2b89"></a>
<a class="el" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">get_default_parameters</a> ()</td></tr>
<tr class="memdesc:a1aa263f14c3322d5aaedc123cd1e2b89"><td class="mdescLeft"> </td><td class="mdescRight">get the default parameters of the algorithm <br/></td></tr>
<tr class="separator:a1aa263f14c3322d5aaedc123cd1e2b89"><td class="memSeparator" colspan="2"> </td></tr>
-<tr class="memitem:aa98f5fdb5a742faf47660fec6d65ca7f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa98f5fdb5a742faf47660fec6d65ca7f"></a>
-void </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">segment</a> ()</td></tr>
-<tr class="memdesc:aa98f5fdb5a742faf47660fec6d65ca7f"><td class="mdescLeft"> </td><td class="mdescRight">Detect and segment the objects on the table. <br/></td></tr>
-<tr class="separator:aa98f5fdb5a742faf47660fec6d65ca7f"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:a6543bae4355bbd4120851067e876e8ef"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">segment</a> ()</td></tr>
+<tr class="memdesc:a6543bae4355bbd4120851067e876e8ef"><td class="mdescLeft"> </td><td class="mdescRight">Detect and segment the objects on the table. <a href="#a6543bae4355bbd4120851067e876e8ef">More...</a><br/></td></tr>
+<tr class="separator:a6543bae4355bbd4120851067e876e8ef"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a75ad67635520b43e2c1ee2f8d3ca7fea"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a> (boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer, bool show_adjacency_map, bool show_super_voxel_normals)</td></tr>
<tr class="memdesc:a75ad67635520b43e2c1ee2f8d3ca7fea"><td class="mdescLeft"> </td><td class="mdescRight">shows in the viewer the supervoxels <a href="#a75ad67635520b43e2c1ee2f8d3ca7fea">More...</a><br/></td></tr>
<tr class="separator:a75ad67635520b43e2c1ee2f8d3ca7fea"><td class="memSeparator" colspan="2"> </td></tr>
@@ -215,6 +214,9 @@ double </td><td class="memItemRight" valign="bottom"><b>get_zmax</b> ()</td
<tr class="memitem:a5bde472d451dc101ade456f25869056c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5bde472d451dc101ade456f25869056c"></a>
int </td><td class="memItemRight" valign="bottom"><b>get_th_points</b> ()</td></tr>
<tr class="separator:a5bde472d451dc101ade456f25869056c"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ad009cc8ba2257a5900c68512c177c00a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad009cc8ba2257a5900c68512c177c00a"></a>
+pcl::ModelCoefficients </td><td class="memItemRight" valign="bottom"><b>get_plane_coefficients</b> ()</td></tr>
+<tr class="separator:ad009cc8ba2257a5900c68512c177c00a"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
@@ -262,6 +264,8 @@ pcl::Supervoxel<br class="typebreak"/>
pcl::PointCloud<br class="typebreak"/>
< pcl::PointNormal >::Ptr </td><td class="memItemRight" valign="bottom"><b>sv_normal_cloud</b></td></tr>
<tr class="separator:a3c8c8e2d8b7405410a7d5d47f517f302"><td class="memSeparator" colspan="2"> </td></tr>
+<tr class="memitem:ae54647f05bc9cbb541b95d23d32cab6b"><td class="memItemLeft" align="right" valign="top">pcl::ModelCoefficients </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">plane_coefficients</a></td></tr>
+<tr class="separator:ae54647f05bc9cbb541b95d23d32cab6b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a0662491cb89776e0f8ff76753bb24840"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a></td></tr>
<tr class="separator:a0662491cb89776e0f8ff76753bb24840"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a976704822ba4713a07bf66a09029ae90"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a></td></tr>
@@ -332,12 +336,12 @@ Static Protected Attributes</h2></td></tr>
<p>How to use: </p>
<div class="fragment"><div class="line"><a class="code" href="classtos__supervoxels.html">tos_supervoxels</a> seg;</div>
<div class="line">seg(cloud); <span class="comment">//not pointer</span></div>
-<div class="line">seg.<a class="code" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">segment</a>();</div>
+<div class="line">seg.<a class="code" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">segment</a>();</div>
<div class="line">std::vector<Object> objects = seg.<a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">get_segmented_objects</a>(); </div>
</div><!-- fragment --><p> or: </p>
<div class="fragment"><div class="line">std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > objects = seg.<a class="code" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">get_segmented_objects_simple</a>(); </div>
</div><!-- fragment -->
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00126">126</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00123">123</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="aedda6ac8b4ed4d73db916e5faf6085e7"></a>
<div class="memitem">
@@ -392,9 +396,9 @@ Static Protected Attributes</h2></td></tr>
</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00121">121</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00124">124</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00353">show_super_voxels()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00366">show_super_voxels()</a>.</p>
<p><div class="dynheader">
Here is the caller graph for this function:</div>
@@ -465,16 +469,18 @@ Here is the caller graph for this function:</div>
</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00150">150</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00153">153</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>.</p>
+<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00157">plane_coefficients</a>.</p>
+
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>.</p>
<p><div class="dynheader">
Here is the caller graph for this function:</div>
<div class="dyncontent">
<div class="center"><img src="classtos__supervoxels_a7eb9f9d72fe72e24078496f0d8bfcc1a_icgraph.png" border="0" usemap="#classtos__supervoxels_a7eb9f9d72fe72e24078496f0d8bfcc1a_icgraph" alt=""/></div>
<map name="classtos__supervoxels_a7eb9f9d72fe72e24078496f0d8bfcc1a_icgraph" id="classtos__supervoxels_a7eb9f9d72fe72e24078496f0d8bfcc1a_icgraph">
-<area shape="rect" id="node2" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f" title="Detect and segment the objects on the table. " alt="" coords="262,12,437,39"/></map>
+<area shape="rect" id="node2" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef" title="Detect and segment the objects on the table. " alt="" coords="262,12,437,39"/></map>
</div>
</p>
@@ -513,7 +519,7 @@ Here is the caller graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00041">41</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00201">initialized</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00201">initialized</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
<p><div class="dynheader">
Here is the call graph for this function:</div>
@@ -546,9 +552,9 @@ Here is the call graph for this function:</div>
</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00050">50</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00053">53</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00201">initialized</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00201">initialized</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
<p><div class="dynheader">
Here is the call graph for this function:</div>
@@ -559,6 +565,35 @@ Here is the call graph for this function:</div>
</div>
</p>
+</div>
+</div>
+<a class="anchor" id="a6543bae4355bbd4120851067e876e8ef"></a>
+<div class="memitem">
+<div class="memproto">
+ <table class="memname">
+ <tr>
+ <td class="memname">bool tos_supervoxels::segment </td>
+ <td>(</td>
+ <td class="paramname"></td><td>)</td>
+ <td></td>
+ </tr>
+ </table>
+</div><div class="memdoc">
+<p>It returns true if there is at least one object on the table, at least one segmented object. </p>
+
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">242</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+
+<p>References <a class="el" href="tos__supervoxels_8h_source.html#l00184">color_importance</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00189">concavity_tolerance_threshold</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00153">detectObjectsOnTable()</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00201">initialized</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00191">min_segment_size</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00186">normal_importance</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00183">seed_resolution</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00190">smoothness_threshold</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00185">spatial_importance</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00198">th_points</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00192">use_extended_convexity</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00193">use_sanity_criterion</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00182">voxel_resolution</a>, <a class="el" href="tos__supervoxels_8h_source.html#l00197">zmax</a>, and <a class="el" href="tos__supervoxels_8h_source.html#l00196">zmin</a>.</p>
+
+<p><div class="dynheader">
+Here is the call graph for this function:</div>
+<div class="dyncontent">
+<div class="center"><img src="classtos__supervoxels_a6543bae4355bbd4120851067e876e8ef_cgraph.png" border="0" usemap="#classtos__supervoxels_a6543bae4355bbd4120851067e876e8ef_cgraph" alt=""/></div>
+<map name="classtos__supervoxels_a6543bae4355bbd4120851067e876e8ef_cgraph" id="classtos__supervoxels_a6543bae4355bbd4120851067e876e8ef_cgraph">
+<area shape="rect" id="node2" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a" title="detects objects that stands on a table " alt="" coords="230,5,437,46"/></map>
+</div>
+</p>
+
</div>
</div>
<a class="anchor" id="a75ad67635520b43e2c1ee2f8d3ca7fea"></a>
@@ -599,9 +634,9 @@ Here is the call graph for this function:</div>
</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00353">353</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00366">366</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>References <a class="el" href="tos__supervoxels_8cpp_source.html#l00121">addSupervoxelConnectionsToViewer()</a>.</p>
+<p>References <a class="el" href="tos__supervoxels_8cpp_source.html#l00124">addSupervoxelConnectionsToViewer()</a>.</p>
<p><div class="dynheader">
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</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00399">399</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00412">412</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
-<p>References <a class="el" href="tos__supervoxels_8cpp_source.html#l00121">addSupervoxelConnectionsToViewer()</a>.</p>
+<p>References <a class="el" href="tos__supervoxels_8cpp_source.html#l00124">addSupervoxelConnectionsToViewer()</a>.</p>
<p><div class="dynheader">
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</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00436">436</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00449">449</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
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@@ -693,7 +728,7 @@ Here is the call graph for this function:</div>
</dd>
</dl>
-<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00462">462</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8cpp_source.html#l00475">475</a> of file <a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a>.</p>
</div>
</div>
@@ -717,9 +752,9 @@ Here is the call graph for this function:</div>
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<p>default value of disable_transform for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00132">132</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00129">129</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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<p>default value of voxel_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00133">133</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00130">130</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
</div>
</div>
@@ -767,9 +802,9 @@ Here is the call graph for this function:</div>
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<p>default value of seed_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00134">134</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00131">131</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -792,9 +827,9 @@ Here is the call graph for this function:</div>
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<p>default value of color_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00135">135</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00132">132</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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</div>
@@ -817,9 +852,9 @@ Here is the call graph for this function:</div>
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<p>default value of spatial_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00136">136</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00133">133</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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</div>
@@ -842,9 +877,9 @@ Here is the call graph for this function:</div>
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<p>default value of normal_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00137">137</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00134">134</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -867,9 +902,9 @@ Here is the call graph for this function:</div>
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<p>default value of concavity_tolerance_threshold for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00140">140</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00137">137</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -892,9 +927,9 @@ Here is the call graph for this function:</div>
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<p>default value of smoothness_threshold for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00141">141</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00138">138</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -917,9 +952,9 @@ Here is the call graph for this function:</div>
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<p>default value of min_segment_size for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00142">142</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00139">139</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -942,9 +977,9 @@ Here is the call graph for this function:</div>
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<p>default value of use_extended_convexity for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00143">143</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00140">140</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -967,9 +1002,9 @@ Here is the call graph for this function:</div>
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<p>default value of use_sanity_criterion for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00144">144</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00141">141</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -992,9 +1027,9 @@ Here is the call graph for this function:</div>
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<p>Default value of the minimum distance for object detection on the table - used inside detectedObjectsTable() </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00147">147</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00144">144</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -1017,9 +1052,9 @@ Here is the call graph for this function:</div>
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<p>Default value of the maxmimum distance for object detection on the table - used inside detectedObjectsTable() </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00148">148</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00145">145</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
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@@ -1042,9 +1077,34 @@ Here is the call graph for this function:</div>
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<p>Default value of the threshold of minimum points required to consider a cluster as valid </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00149">149</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00146">146</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>.</p>
+
+</div>
+</div>
+<a class="anchor" id="ae54647f05bc9cbb541b95d23d32cab6b"></a>
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+ <tr>
+ <td class="mlabels-left">
+ <table class="memname">
+ <tr>
+ <td class="memname">pcl::ModelCoefficients tos_supervoxels::plane_coefficients</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>coefficients of the table plane </p>
+
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00157">157</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">get_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00153">detectObjectsOnTable()</a>.</p>
</div>
</div>
@@ -1069,7 +1129,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00181">181</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1094,7 +1154,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00182">182</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1119,7 +1179,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00183">183</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1144,7 +1204,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00184">184</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1169,7 +1229,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00185">185</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1194,7 +1254,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00186">186</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1219,7 +1279,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00189">189</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1244,7 +1304,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00190">190</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1269,7 +1329,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00191">191</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1294,7 +1354,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00192">192</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1319,7 +1379,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00193">193</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1344,7 +1404,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00196">196</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1369,7 +1429,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00197">197</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1394,7 +1454,7 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00198">198</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00498">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00094">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">set_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00511">print_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00097">set_default_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">set_parameters()</a>.</p>
</div>
</div>
@@ -1419,18 +1479,18 @@ Here is the call graph for this function:</div>
<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00201">201</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00041">init()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00240">segment()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00031">tos_supervoxels()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00041">init()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00242">segment()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00031">tos_supervoxels()</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
-<li>/home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
-<li>/home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a></li>
+<li>/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
+<li>/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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/classtos__supervoxels__parameters.html b/trunk/doc/html/classtos__supervoxels__parameters.html
index 5c393bc3981fcc45db522fe3596c2397171876a4..d2eec3b4399db97ca605c34e7249f687e19be80f 100644
--- a/trunk/doc/html/classtos__supervoxels__parameters.html
+++ b/trunk/doc/html/classtos__supervoxels__parameters.html
@@ -131,7 +131,7 @@ Static Protected Attributes</h2></td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00046">46</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00043">43</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
</div><h2 class="groupheader">Constructor & Destructor Documentation</h2>
<a class="anchor" id="ab0132cd89f636627d3bb5d1cc81de339"></a>
<div class="memitem">
@@ -170,7 +170,7 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>default value of disable_transform for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00051">51</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00048">48</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -195,7 +195,7 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>default value of voxel_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00052">52</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00049">49</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -220,7 +220,7 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>default value of seed_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00053">53</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00050">50</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -245,7 +245,7 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>default value of color_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00054">54</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00051">51</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -270,7 +270,7 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>default value of spatial_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00055">55</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00052">52</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -295,7 +295,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of normal_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00056">56</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00053">53</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -320,7 +320,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of concavity_tolerance_threshold for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00059">59</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00056">56</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -345,7 +345,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of smoothness_threshold for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00060">60</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00057">57</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -370,7 +370,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of min_segment_size for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00061">61</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00058">58</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -395,7 +395,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of use_extended_convexity for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00062">62</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00059">59</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -420,7 +420,7 @@ Static Protected Attributes</h2></td></tr>
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<p>default value of use_sanity_criterion for lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00063">63</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00060">60</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -445,7 +445,7 @@ Static Protected Attributes</h2></td></tr>
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<p>Default value of the minimum distance for object detection on the table - used inside detectedObjectsTable() </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00066">66</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00063">63</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -470,7 +470,7 @@ Static Protected Attributes</h2></td></tr>
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<p>Default value of the maxmimum distance for object detection on the table - used inside detectedObjectsTable() </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00067">67</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00064">64</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -495,7 +495,7 @@ Static Protected Attributes</h2></td></tr>
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<p>Default value of the threshold of minimum points required to consider a cluster as valid </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00068">68</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00065">65</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
@@ -512,9 +512,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of disable_transform for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00073">73</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00070">70</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -529,9 +529,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of voxel_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00074">74</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00071">71</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -546,9 +546,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of seed_resolution for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00075">75</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00072">72</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -563,9 +563,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of color_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00076">76</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00073">73</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -580,9 +580,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of spatial_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00077">77</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00074">74</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -597,9 +597,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of normal_importance for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00078">78</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00075">75</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -614,9 +614,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of concavity_tolerance_threshold for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00081">81</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00078">78</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -631,9 +631,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of smoothness_threshold for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00082">82</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00079">79</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -648,9 +648,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of min_segment_size for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00083">83</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00080">80</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -665,9 +665,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of use_extended_convexity for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00084">84</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00081">81</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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@@ -682,9 +682,9 @@ Static Protected Attributes</h2></td></tr>
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<p>value of use_sanity_criterion for supervoxel algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00085">85</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00082">82</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
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</div>
@@ -699,9 +699,9 @@ Static Protected Attributes</h2></td></tr>
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<p>Minimum distance orthogonal to the table plane to be considered as a tabletop point </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00088">88</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00085">85</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
</div>
</div>
@@ -716,9 +716,9 @@ Static Protected Attributes</h2></td></tr>
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<p>Maximum distance orthogonal to the table plane to be considered as a tabletop point </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00089">89</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00086">86</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
</div>
</div>
@@ -733,20 +733,20 @@ Static Protected Attributes</h2></td></tr>
</div><div class="memdoc">
<p>threshold of minimum point required to consider a cluster as valid </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00090">90</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00087">87</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
-<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
+<p>Referenced by <a class="el" href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels::get_default_parameters()</a>, <a class="el" href="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels::set_parameters()</a>, and <a class="el" href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels_parameters()</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
-<li>/home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
-<li>/home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a></li>
+<li>/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
+<li>/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8cpp_source.html">tos_supervoxels.cpp</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
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<meta name="generator" content="Doxygen 1.8.6"/>
-<title>tos_supervoxels: /home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src Directory Reference</title>
+<title>tos_supervoxels: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src Directory Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
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@@ -60,7 +60,7 @@ Files</h2></td></tr>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
</small></address>
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<meta name="generator" content="Doxygen 1.8.6"/>
-<title>tos_supervoxels: /home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/examples Directory Reference</title>
+<title>tos_supervoxels: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/examples Directory Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
@@ -53,7 +53,7 @@ Files</h2></td></tr>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
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diff --git a/trunk/doc/html/examples.html b/trunk/doc/html/examples.html
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--- 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 Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:19 for tos_supervoxels by  <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
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--- 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 Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:19 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
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diff --git a/trunk/doc/html/functions.html b/trunk/doc/html/functions.html
index 1bf8b39e0acf89aa5922cbdc7aec76059f450e74..667073ce000bf11a0e139ae80e53f06a62071b1b 100644
--- a/trunk/doc/html/functions.html
+++ b/trunk/doc/html/functions.html
@@ -201,6 +201,9 @@
<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
+<li>plane_coefficients
+: <a class="el" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">tos_supervoxels</a>
+</li>
<li>print_parameters()
: <a class="el" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels</a>
</li>
@@ -226,7 +229,7 @@
: <a class="el" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters</a>
</li>
<li>segment()
-: <a class="el" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels</a>
+: <a class="el" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels</a>
</li>
<li>set_default_parameters()
: <a class="el" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels</a>
@@ -240,15 +243,15 @@
<li>show_super_voxels()
: <a class="el" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels</a>
</li>
-<li>SMOOTHNESS_THRESHOLD
-: <a class="el" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels</a>
-</li>
<li>smoothness_threshold
: <a class="el" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">tos_supervoxels</a>
-, <a class="el" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters</a>
</li>
<li>SMOOTHNESS_THRESHOLD
-: <a class="el" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters</a>
+</li>
+<li>smoothness_threshold
+: <a class="el" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters</a>
</li>
<li>spatial_importance
: <a class="el" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">tos_supervoxels</a>
@@ -294,15 +297,15 @@
<li>use_extended_convexity
: <a class="el" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters</a>
</li>
-<li>use_sanity_criterion
-: <a class="el" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels</a>
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<li>USE_SANITY_CRITERION
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</li>
<li>use_sanity_criterion
-: <a class="el" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters</a>
+</li>
+<li>USE_SANITY_CRITERION
+: <a class="el" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters</a>
</li>
</ul>
@@ -322,15 +325,15 @@
<h3><a class="anchor" id="index_z"></a>- z -</h3><ul>
-<li>zmax
-: <a class="el" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels</a>
-</li>
<li>ZMAX
: <a class="el" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels</a>
-, <a class="el" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters</a>
</li>
<li>zmax
-: <a class="el" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters</a>
+</li>
+<li>ZMAX
+: <a class="el" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters</a>
</li>
<li>zmin
: <a class="el" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">tos_supervoxels</a>
@@ -356,7 +359,7 @@
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:19 for tos_supervoxels by  <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
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--- a/trunk/doc/html/functions_func.html
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@@ -94,7 +94,7 @@
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-: <a class="el" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels</a>
+: <a class="el" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels</a>
</li>
<li>set_default_parameters()
: <a class="el" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels</a>
@@ -124,7 +124,7 @@
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<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:19 for tos_supervoxels by  <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 892c84656bf90d0963125fd4bb245ff6eed48059..f11b3222f5ed7f50923bc0a4bfba9cd960c5781c 100644
--- a/trunk/doc/html/functions_vars.html
+++ b/trunk/doc/html/functions_vars.html
@@ -56,6 +56,7 @@
<li><a href="#index_l"><span>l</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_p"><span>p</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>
@@ -73,25 +74,21 @@
</li>
<li>COLOR_IMPORTANCE
: <a class="el" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters</a>
</li>
<li>color_importance
: <a class="el" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters</a>
</li>
-<li>COLOR_IMPORTANCE
-: <a class="el" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters</a>
-</li>
<li>concavity_tolerance_threshold
: <a class="el" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">tos_supervoxels</a>
</li>
<li>CONCAVITY_TOLERANCE_THRESHOLD
: <a class="el" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters</a>
</li>
<li>concavity_tolerance_threshold
: <a class="el" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters</a>
</li>
-<li>CONCAVITY_TOLERANCE_THRESHOLD
-: <a class="el" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters</a>
-</li>
</ul>
@@ -151,37 +148,42 @@
</ul>
+<h3><a class="anchor" id="index_p"></a>- p -</h3><ul>
+<li>plane_coefficients
+: <a class="el" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">tos_supervoxels</a>
+</li>
+</ul>
+
+
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>seed_resolution
: <a class="el" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">tos_supervoxels</a>
</li>
<li>SEED_RESOLUTION
: <a class="el" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters</a>
</li>
<li>seed_resolution
: <a class="el" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters</a>
</li>
-<li>SEED_RESOLUTION
-: <a class="el" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters</a>
+<li>SMOOTHNESS_THRESHOLD
+: <a class="el" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels</a>
</li>
<li>smoothness_threshold
: <a class="el" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">tos_supervoxels</a>
</li>
<li>SMOOTHNESS_THRESHOLD
-: <a class="el" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels</a>
-, <a class="el" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters</a>
</li>
<li>smoothness_threshold
: <a class="el" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters</a>
</li>
-<li>SPATIAL_IMPORTANCE
-: <a class="el" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels</a>
-</li>
<li>spatial_importance
: <a class="el" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">tos_supervoxels</a>
</li>
<li>SPATIAL_IMPORTANCE
-: <a class="el" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters</a>
</li>
<li>spatial_importance
: <a class="el" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters</a>
@@ -209,21 +211,17 @@
</li>
<li>USE_EXTENDED_CONVEXITY
: <a class="el" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters</a>
</li>
<li>use_extended_convexity
: <a class="el" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters</a>
</li>
-<li>USE_EXTENDED_CONVEXITY
-: <a class="el" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters</a>
-</li>
-<li>use_sanity_criterion
-: <a class="el" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels</a>
-</li>
<li>USE_SANITY_CRITERION
: <a class="el" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">tos_supervoxels</a>
</li>
<li>use_sanity_criterion
-: <a class="el" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters</a>
</li>
<li>USE_SANITY_CRITERION
: <a class="el" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters</a>
@@ -246,14 +244,12 @@
<h3><a class="anchor" id="index_z"></a>- z -</h3><ul>
-<li>zmax
-: <a class="el" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels</a>
-</li>
<li>ZMAX
: <a class="el" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels</a>
</li>
<li>zmax
-: <a class="el" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters</a>
+: <a class="el" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters</a>
</li>
<li>ZMAX
: <a class="el" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters</a>
@@ -263,18 +259,16 @@
</li>
<li>ZMIN
: <a class="el" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">tos_supervoxels</a>
+, <a class="el" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters</a>
</li>
<li>zmin
: <a class="el" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters</a>
</li>
-<li>ZMIN
-: <a class="el" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters</a>
-</li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:19 for tos_supervoxels by  <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 9a17303098db351c5ed3956a8319ec0f59615f9f..4b1def35e6ce002e512d04a46e3585172f7da2b7 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 Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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 72908c889e4a4339183fb7553e40d5eed76260b8..5c2f0c9e22596382109e02ecd9e485acb32b3378 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 Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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 d2145b72e62cd01198c927f56869505a77a0f8c6..ae6ab3d133add547465f2b6725545fb8daf8ec82 100644
--- a/trunk/doc/html/structObject.html
+++ b/trunk/doc/html/structObject.html
@@ -61,7 +61,7 @@ pcl::PointCloud<br class="typebreak"/>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00035">35</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00032">32</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
</div><h2 class="groupheader">Field Documentation</h2>
<a class="anchor" id="a45cf3c764fbbd9fd49fb64dd4d2c1b6d"></a>
<div class="memitem">
@@ -74,17 +74,17 @@ pcl::PointCloud<br class="typebreak"/>
</div><div class="memdoc">
<p>label assigned by the lccp algorithm </p>
-<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00038">38</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
+<p>Definition at line <a class="el" href="tos__supervoxels_8h_source.html#l00035">35</a> of file <a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a>.</p>
</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
-<li>/home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
+<li>/home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/<a class="el" href="tos__supervoxels_8h_source.html">tos_supervoxels.h</a></li>
</ul>
</div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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 97cdcdfae09132135d68d07812e1b1132651b1f1..183bc13d1a058a0760dddf46b4c98df0b2794325 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 Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <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/tos__supervoxels_8cpp_source.html b/trunk/doc/html/tos__supervoxels_8cpp_source.html
index 46d406b87f7b4dc4d65b89e9720ee83d71c5c89d..09eec3026d8976085195fb89245b9c9e2912ac5e 100644
--- a/trunk/doc/html/tos__supervoxels_8cpp_source.html
+++ b/trunk/doc/html/tos__supervoxels_8cpp_source.html
@@ -4,7 +4,7 @@
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.6"/>
-<title>tos_supervoxels: /home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/tos_supervoxels.cpp Source File</title>
+<title>tos_supervoxels: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/tos_supervoxels.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
@@ -92,705 +92,723 @@
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a"> 41</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a>(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud,</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> &opt)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> {</div>
-<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  this->cloud = input_cloud.makeShared();</div>
-<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  this->detected_objects.resize(0);</div>
-<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">set_parameters</a>(opt);</div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> } </div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
-<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a4963a76d8759c326b3639967b23ff984"> 50</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a>(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud)</div>
-<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
-<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  this->cloud = input_cloud.makeShared();</div>
-<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  this->detected_objects.resize(0);</div>
-<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">set_default_parameters</a>();</div>
-<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> } </div>
-<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
-<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d"> 58</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::reset</a>()</div>
-<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> {</div>
-<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  this->cloud->points.resize(0);</div>
-<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  this->detected_objects.resize(0);</div>
-<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  this->lccp_labeled_cloud->points.resize(0);</div>
-<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  this->labeled_voxel_cloud->points.resize(0);</div>
-<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  this->sv_normal_cloud->points.resize(0);</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  this->supervoxel_clusters.clear();</div>
-<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  this->supervoxel_adjacency.clear();</div>
-<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">set_default_parameters</a>();</div>
-<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> }</div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> </div>
-<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695"> 70</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a>(<a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> & opt)</div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> {</div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">// pcl::PointCloud<pcl::PointXYZRGBA> cloud_copied;</span></div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">// pcl::copyPointCloud(input_cloud, cloud_copied); </span></div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">// this->cloud = cloud_copied.makeShared();</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  this->cloud = input_cloud.makeShared();</div>
+<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  this->detected_objects.resize(0);</div>
+<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">set_parameters</a>(opt);</div>
+<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> } </div>
+<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a4963a76d8759c326b3639967b23ff984"> 53</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a>(pcl::PointCloud<pcl::PointXYZRGBA> input_cloud)</div>
+<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  this->cloud = input_cloud.makeShared();</div>
+<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  this->detected_objects.resize(0);</div>
+<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">set_default_parameters</a>();</div>
+<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> } </div>
+<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
+<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d"> 61</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::reset</a>()</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> {</div>
+<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  this->cloud->points.resize(0);</div>
+<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  this->detected_objects.resize(0);</div>
+<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  this->lccp_labeled_cloud->points.resize(0);</div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  this->labeled_voxel_cloud->points.resize(0);</div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  this->sv_normal_cloud->points.resize(0);</div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  this->supervoxel_clusters.clear();</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  this->supervoxel_adjacency.clear();</div>
+<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">set_default_parameters</a>();</div>
+<div class="line"><a name="l00071"></a><span class="lineno"> 71</span> }</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
-<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a>;</div>
-<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a>;</div>
-<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a>;</div>
-<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a>;</div>
-<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a>;</div>
-<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a>;</div>
-<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
-<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a>;</div>
-<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a>;</div>
-<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a>; </div>
-<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a>;</div>
-<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a>;</div>
-<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div>
-<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695"> 73</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a>(<a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> & opt)</div>
+<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> {</div>
+<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
+<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a>;</div>
+<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a>;</div>
+<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a>;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a>;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div>
+<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a>;</div>
+<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a>;</div>
+<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a>; </div>
+<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a>;</div>
+<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div>
-<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a>;</div>
-<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
-<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> }</div>
-<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div>
-<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4"> 94</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::set_default_parameters</a>()</div>
-<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> {</div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = this-><a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a>;</div>
-<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a>;</div>
-<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a>;</div>
-<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = this-><a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
-<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
-<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
-<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a>;</div>
-<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = this-><a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a>; </div>
-<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = this-><a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a>;</div>
-<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = this-><a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a>;</div>
-<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div>
-<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = this-><a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = this-><a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> </div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = opt.<a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a>;</div>
+<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div>
+<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> }</div>
+<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
+<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4"> 97</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::set_default_parameters</a>()</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> {</div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = this-><a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a>;</div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a>;</div>
+<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a>;</div>
+<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = this-><a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> </div>
+<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
+<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a>;</div>
+<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = this-><a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a>; </div>
+<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = this-><a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a>;</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = this-><a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a>;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div>
-<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = this-><a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a>;</div>
-<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
-<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div>
-<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> }</div>
-<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = this-><a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = this-><a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = this-><a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a>;</div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
-<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">void</span></div>
-<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7"> 121</a></span> <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a> (pcl::PointXYZRGBA &supervoxel_center,</div>
-<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  pcl::PointCloud<pcl::PointXYZRGBA>& adjacent_supervoxel_centers,</div>
-<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  std::string supervoxel_name,</div>
-<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
-<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> {</div>
-<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();</div>
-<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();</div>
-<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();</div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">//Iterate through all adjacent points, and add a center point to adjacent point pair</span></div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  pcl::PointCloud<pcl::PointXYZRGBA>::iterator adjacent_itr = adjacent_supervoxel_centers.begin ();</div>
-<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">for</span> ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)</div>
-<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
-<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  points->InsertNextPoint (supervoxel_center.data);</div>
-<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  points->InsertNextPoint (adjacent_itr->data);</div>
-<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  }</div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// Create a polydata to store everything in</span></div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();</div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// Add the points to the dataset</span></div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  polyData->SetPoints (points);</div>
-<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  polyLine->GetPointIds ()->SetNumberOfIds(points->GetNumberOfPoints ());</div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < points->GetNumberOfPoints (); i++)</div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  polyLine->GetPointIds ()->SetId (i,i);</div>
-<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  cells->InsertNextCell (polyLine);</div>
-<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// Add the lines to the dataset</span></div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  polyData->SetLines (cells);</div>
-<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  viewer->addModelFromPolyData (polyData,supervoxel_name);</div>
-<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> }</div>
-<div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div>
-<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a"> 150</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a>(pcl::PointCloud<pcl::PointXYZRGBA>::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="l00151"></a><span class="lineno"> 151</span> {</div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="comment">// Objects for storing the point clouds.</span></div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr plane(<span class="keyword">new</span> pcl::PointCloud<pcl::PointXYZRGBA>);</div>
-<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr convexHull(<span class="keyword">new</span> pcl::PointCloud<pcl::PointXYZRGBA>);</div>
-<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  </div>
-<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="comment">// Get the plane model, if present.</span></div>
-<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  pcl::ModelCoefficients::Ptr coefficients(<span class="keyword">new</span> pcl::ModelCoefficients);</div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  pcl::SACSegmentation<pcl::PointXYZRGBA> segmentation;</div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  segmentation.setInputCloud(cloud);</div>
-<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  segmentation.setModelType(pcl::SACMODEL_PLANE);</div>
-<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  segmentation.setMethodType(pcl::SAC_RANSAC);</div>
-<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  segmentation.setDistanceThreshold(0.01);</div>
-<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  segmentation.setOptimizeCoefficients(<span class="keyword">true</span>);</div>
-<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  pcl::PointIndices::Ptr planeIndices(<span class="keyword">new</span> pcl::PointIndices);</div>
-<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  segmentation.segment(*planeIndices, *coefficients);</div>
-<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div>
-<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">if</span> (planeIndices->indices.size() == 0)</div>
-<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  std::cout << <span class="stringliteral">"Could not find a plane in the scene."</span> << std::endl;</div>
-<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  {</div>
-<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">// Copy the points of the plane to a new cloud.</span></div>
-<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  pcl::ExtractIndices<pcl::PointXYZRGBA> extract;</div>
-<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  extract.setInputCloud(cloud);</div>
-<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  extract.setIndices(planeIndices);</div>
-<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  extract.filter(*plane);</div>
-<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  </div>
-<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="comment">// Retrieve the convex hull.</span></div>
-<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  pcl::ConvexHull<pcl::PointXYZRGBA> hull;</div>
-<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  hull.setInputCloud(plane);</div>
-<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="comment">// Make sure that the resulting hull is bidimensional.</span></div>
-<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  hull.setDimension(2); <span class="comment">//2dimension -> planar convex hull</span></div>
-<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  hull.reconstruct(*convexHull);</div>
-<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
-<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="comment">// Redundant check.</span></div>
-<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <span class="keywordflow">if</span> (hull.getDimension() == 2)</div>
-<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  {</div>
-<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="comment">// Prism object.</span></div>
-<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  pcl::ExtractPolygonalPrismData<pcl::PointXYZRGBA> prism;</div>
-<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  prism.setInputCloud(cloud);</div>
-<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  prism.setInputPlanarHull(convexHull);</div>
-<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <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="l00192"></a><span class="lineno"> 192</span>  <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="l00193"></a><span class="lineno"> 193</span>  prism.setHeightLimits(zmin, zmax);</div>
-<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
-<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="comment">//std::cout << "size of objectIndices before segmentation: " << objectIndices.indices.size() << std::endl;</span></div>
-<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="comment">//pcl::PointIndices::Ptr objectIndices(new pcl::PointIndices);</span></div>
-<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  prism.segment(*objectIndices);</div>
-<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">//std::cout << "size of objectIndices AFTER segmentation: " << objectIndices.indices.size() << std::endl;</span></div>
-<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
-<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">// Get and show all points retrieved by the hull.</span></div>
-<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  extract.setIndices(objectIndices);</div>
-<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  </div>
-<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span>(filter_input_cloud)</div>
-<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  extract.filter(*cloud);</div>
-<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
-<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  }</div>
-<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">else</span> std::cout << <span class="stringliteral">"The chosen hull is not planar."</span> << std::endl;</div>
-<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  }</div>
-<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> }</div>
-<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div>
-<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div>
-<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89"> 212</a></span> <a class="code" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a>()</div>
-<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> {</div>
-<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> </div>
-<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> opt;</div>
+<div class="line"><a name="l00120"></a><span class="lineno"> 120</span> }</div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">void</span></div>
+<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7"> 124</a></span> <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a> (pcl::PointXYZRGBA &supervoxel_center,</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  pcl::PointCloud<pcl::PointXYZRGBA>& adjacent_supervoxel_centers,</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  std::string supervoxel_name,</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span> {</div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New ();</div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  vtkSmartPointer<vtkCellArray> cells = vtkSmartPointer<vtkCellArray>::New ();</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  vtkSmartPointer<vtkPolyLine> polyLine = vtkSmartPointer<vtkPolyLine>::New ();</div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="comment">//Iterate through all adjacent points, and add a center point to adjacent point pair</span></div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  pcl::PointCloud<pcl::PointXYZRGBA>::iterator adjacent_itr = adjacent_supervoxel_centers.begin ();</div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">for</span> ( ; adjacent_itr != adjacent_supervoxel_centers.end (); ++adjacent_itr)</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  points->InsertNextPoint (supervoxel_center.data);</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  points->InsertNextPoint (adjacent_itr->data);</div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  }</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="comment">// Create a polydata to store everything in</span></div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New ();</div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="comment">// Add the points to the dataset</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  polyData->SetPoints (points);</div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  polyLine->GetPointIds ()->SetNumberOfIds(points->GetNumberOfPoints ());</div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < points->GetNumberOfPoints (); i++)</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  polyLine->GetPointIds ()->SetId (i,i);</div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  cells->InsertNextCell (polyLine);</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="comment">// Add the lines to the dataset</span></div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  polyData->SetLines (cells);</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  viewer->addModelFromPolyData (polyData,supervoxel_name);</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> }</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div>
+<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a"> 153</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a>(pcl::PointCloud<pcl::PointXYZRGBA>::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="l00154"></a><span class="lineno"> 154</span> {</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="comment">// Objects for storing the point clouds.</span></div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr plane(<span class="keyword">new</span> pcl::PointCloud<pcl::PointXYZRGBA>);</div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr convexHull(<span class="keyword">new</span> pcl::PointCloud<pcl::PointXYZRGBA>);</div>
+<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="comment">// Get the plane model, if present.</span></div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  pcl::SACSegmentation<pcl::PointXYZRGBA> segmentation;</div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  segmentation.setInputCloud(cloud);</div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  segmentation.setModelType(pcl::SACMODEL_PLANE);</div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  segmentation.setMethodType(pcl::SAC_RANSAC);</div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  segmentation.setDistanceThreshold(0.01);</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  segmentation.setOptimizeCoefficients(<span class="keyword">true</span>);</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  pcl::PointIndices::Ptr planeIndices(<span class="keyword">new</span> pcl::PointIndices);</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  segmentation.segment(*planeIndices, this-><a class="code" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">plane_coefficients</a>);</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <span class="keywordflow">if</span> (planeIndices->indices.size() == 0)</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  std::cout << <span class="stringliteral">"Could not find a plane in the scene."</span> << std::endl;</div>
+<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  {</div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="comment">// Copy the points of the plane to a new cloud.</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  pcl::ExtractIndices<pcl::PointXYZRGBA> extract;</div>
+<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  extract.setInputCloud(cloud);</div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  extract.setIndices(planeIndices);</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  extract.filter(*plane);</div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  </div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="comment">// Retrieve the convex hull.</span></div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  pcl::ConvexHull<pcl::PointXYZRGBA> hull;</div>
+<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  hull.setInputCloud(plane);</div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="comment">// Make sure that the resulting hull is bidimensional.</span></div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  hull.setDimension(2); <span class="comment">//2dimension -> planar convex hull</span></div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  hull.reconstruct(*convexHull);</div>
+<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="comment">// Redundant check.</span></div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">if</span> (hull.getDimension() == 2)</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="comment">// Prism object.</span></div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  pcl::ExtractPolygonalPrismData<pcl::PointXYZRGBA> prism;</div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  prism.setInputCloud(cloud);</div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  prism.setInputPlanarHull(convexHull);</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <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="l00194"></a><span class="lineno"> 194</span>  <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="l00195"></a><span class="lineno"> 195</span>  prism.setHeightLimits(zmin, zmax);</div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  </div>
+<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="comment">//std::cout << "size of objectIndices before segmentation: " << objectIndices.indices.size() << std::endl;</span></div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">//pcl::PointIndices::Ptr objectIndices(new pcl::PointIndices);</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  prism.segment(*objectIndices);</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="comment">//std::cout << "size of objectIndices AFTER segmentation: " << objectIndices.indices.size() << std::endl;</span></div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// Get and show all points retrieved by the hull.</span></div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  extract.setIndices(objectIndices);</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  </div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  <span class="keywordflow">if</span>(filter_input_cloud)</div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  extract.filter(*cloud);</div>
+<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  }</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  <span class="keywordflow">else</span> std::cout << <span class="stringliteral">"The chosen hull is not planar."</span> << std::endl;</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> }</div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> </div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div>
+<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89"> 214</a></span> <a class="code" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a>()</div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> {</div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
-<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a> = this-><a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a>;</div>
-<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a>;</div>
-<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a>;</div>
-<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a> = this-><a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a>;</div>
-<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
-<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
-<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
-<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a>;</div>
-<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a> = this-><a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a>; </div>
-<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a> = this-><a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a>;</div>
-<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a> = this-><a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a>;</div>
-<div class="line"><a name="l00230"></a><span class="lineno"> 230</span> </div>
-<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a> = this-><a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a> = this-><a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a>;<span class="comment">//meters</span></div>
-<div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div>
-<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a> = this-><a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a>;</div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> opt;</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> </div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a> = this-><a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a>;</div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a>;</div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a> = this-><a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a>;</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a> = this-><a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a> = this-><a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a>;</div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">// LCCPSegmentation Stuff</span></div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a>;</div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a> = this-><a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a>;</div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a> = this-><a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a>; </div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a> = this-><a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a>;</div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a> = this-><a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a>;</div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a> = this-><a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a>;<span class="comment">//meters</span></div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a> = this-><a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a>;<span class="comment">//meters</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span> </div>
-<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  <span class="keywordflow">return</span> opt;</div>
-<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> }</div>
-<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
-<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div>
-<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f"> 240</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels::segment</a>()</div>
-<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> {</div>
-<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="comment">//float t_ini = cv::getTickCount();</span></div>
-<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div>
-<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keywordflow">if</span>(!this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a>)</div>
-<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  {</div>
-<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  pcl::console::print_error(<span class="stringliteral">"[tos_supervoxels] No valid input cloud given to the algorithm. The class has not beed initialized."</span>);</div>
-<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  }</div>
-<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div>
-<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  pcl::PointIndices::Ptr obj_idx (<span class="keyword">new</span> pcl::PointIndices());</div>
-<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <a class="code" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">detectObjectsOnTable</a>(this->cloud, this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a>, this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> , obj_idx, <span class="keyword">true</span>);</div>
-<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="comment">//float elapsed_time_plane = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
-<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
-<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordflow">if</span>(this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> < 0.013)</div>
-<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  pcl::console::print_warn(<span class="stringliteral">"[tos_supervoxels] seed resolution very low, the segmentation could be fragmented."</span>);</div>
-<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div>
-<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  pcl::SupervoxelClustering<pcl::PointXYZRGBA> super (this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>);</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  opt.<a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a> = this-><a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a>;</div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keywordflow">return</span> opt;</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> }</div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div>
+<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef"> 242</a></span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels::segment</a>()</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> {</div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="comment">//float t_ini = cv::getTickCount();</span></div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">if</span>(!this-><a class="code" href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">initialized</a>)</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  {</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  pcl::console::print_error(<span class="stringliteral">"[tos_supervoxels] No valid input cloud given to the algorithm. The class has not beed initialized."</span>);</div>
+<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  }</div>
+<div class="line"><a name="l00251"></a><span class="lineno"> 251</span> </div>
+<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  pcl::PointIndices::Ptr obj_idx (<span class="keyword">new</span> pcl::PointIndices());</div>
+<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <a class="code" href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">detectObjectsOnTable</a>(this->cloud, this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a>, this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> , obj_idx, <span class="keyword">true</span>);</div>
+<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="comment">//float elapsed_time_plane = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keywordflow">if</span>(this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> < 0.013)</div>
+<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  pcl::console::print_warn(<span class="stringliteral">"[tos_supervoxels] seed resolution very low, the segmentation could be fragmented."</span>);</div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span> </div>
-<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  super.setInputCloud (this->cloud);</div>
+<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  pcl::SupervoxelClustering<pcl::PointXYZRGBA> super (this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>);</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div>
-<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="comment">//super.setNormalCloud (input_normals);</span></div>
-<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div>
-<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  super.setColorImportance (this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a>);</div>
-<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  super.setSpatialImportance (this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a>);</div>
-<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  super.setNormalImportance (this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a>);</div>
-<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div>
-<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  super.extract (supervoxel_clusters);</div>
-<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
-<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();</div>
-<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);</div>
-<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr full_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  </div>
-<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  super.getSupervoxelAdjacency (supervoxel_adjacency);</div>
-<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  </div>
-<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr > refined_supervoxel_clusters;</div>
-<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> </div>
-<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="comment">// NO REFINEMENT!!</span></div>
-<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="comment">//super.refineSupervoxels (3, refined_supervoxel_clusters);</span></div>
-<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div>
-<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
-<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  pcl::PointCloud<pcl::PointNormal>::Ptr refined_sv_normal_cloud = super.makeSupervoxelNormalCloud (refined_supervoxel_clusters);</div>
-<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  </div>
-<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keyword">typedef</span> boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> VoxelAdjacencyList;</div>
-<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  VoxelAdjacencyList supervoxel_adjacency_list;</div>
-<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);</div>
-<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  </div>
-<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="comment">// Segmentation Stuff</span></div>
-<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div>
-<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  uint k_factor = 0;</div>
-<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="keywordflow">if</span> (<a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a>)</div>
-<div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  k_factor = 1;</div>
-<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div>
-<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  pcl::LCCPSegmentation<pcl::PointXYZRGBA> lccp;</div>
-<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  lccp.setConcavityToleranceThreshold (this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a>);</div>
-<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  lccp.setSanityCheck (this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a>);</div>
-<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  lccp.setSmoothnessCheck (<span class="keyword">true</span>, this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a>);</div>
-<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  lccp.setKFactor (k_factor);</div>
-<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  lccp.setInputSupervoxels (this->supervoxel_clusters, this->supervoxel_adjacency);</div>
-<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  lccp.setMinSegmentSize (this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a>);</div>
-<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  lccp.segment ();</div>
-<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div>
-<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr sv_labeled_cloud = super.getLabeledCloud ();</div>
-<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  lccp_labeled_cloud = sv_labeled_cloud->makeShared ();</div>
-<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  lccp.relabelCloud (*lccp_labeled_cloud);</div>
-<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="comment">//std::cout << "size lccp_labeled_cloud: "<<lccp_labeled_cloud->points.size() << "\n";</span></div>
-<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="comment">//---------------------------------------------------------------------------------------------</span></div>
-<div class="line"><a name="l00308"></a><span class="lineno"> 308</span> </div>
-<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="comment">//float elapsed_time_seg = (cv::getTickCount()-t_ini)/cv::getTickFrequency() - elapsed_time_plane;</span></div>
-<div class="line"><a name="l00310"></a><span class="lineno"> 310</span> </div>
-<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="comment">//------------------------------ SEGMENTATION POST PROCESSING ---------------------------------</span></div>
-<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="comment">//construct for each segmented object the point cloud associated to that object</span></div>
-<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < lccp_labeled_cloud->points.size(); ++i)</div>
-<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  {</div>
-<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  </div>
-<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  uint32_t idx = lccp_labeled_cloud->points.at(i).label;</div>
-<div class="line"><a name="l00317"></a><span class="lineno"> 317</span> </div>
-<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="comment">//in this way we enlarges the vector everytime we encounter a greater label. So we don't need to pass all </span></div>
-<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <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="l00320"></a><span class="lineno"> 320</span>  <span class="keywordflow">if</span>(idx >= detected_objects.size()) <span class="comment">// keep in mind that there is also the label 0! </span></div>
-<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  detected_objects.resize(idx+1);</div>
-<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  </div>
-<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  pcl::PointXYZRGBA tmp_point_rgb;</div>
-<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  tmp_point_rgb = cloud->points.at(i);</div>
-<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  detected_objects[idx].object_cloud.points.push_back(tmp_point_rgb);</div>
-<div class="line"><a name="l00326"></a><span class="lineno"> 326</span> </div>
-<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  detected_objects[idx].label = (int)idx;</div>
-<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  } </div>
-<div class="line"><a name="l00329"></a><span class="lineno"> 329</span> </div>
-<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="comment">//remove segments with too few points</span></div>
-<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <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="l00332"></a><span class="lineno"> 332</span>  <span class="keywordtype">int</span> size = detected_objects.size();</div>
-<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordtype">int</span> i = 0;</div>
-<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordflow">while</span> (i < size)</div>
-<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  {</div>
-<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordflow">if</span>(detected_objects[i].object_cloud.size() < this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a>)</div>
-<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  {</div>
-<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  detected_objects.erase(detected_objects.begin() + i);</div>
-<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  size = detected_objects.size();</div>
-<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  }</div>
-<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  i++;</div>
-<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  }</div>
-<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div>
-<div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="comment">//float elapsed_time = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
-<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div>
-<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="comment">//std::cout << "elapsed_time (segmentation and postprocessing): " << elapsed_time << "\nelapsed_time of LCCP segmentation: " << elapsed_time_seg << std::endl;</span></div>
-<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  <span class="comment">//std::cout << "elapsed_time plane estimation: " << elapsed_time_plane << std::endl;</span></div>
-<div class="line"><a name="l00349"></a><span class="lineno"> 349</span> </div>
-<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00351"></a><span class="lineno"> 351</span> }</div>
-<div class="line"><a name="l00352"></a><span class="lineno"> 352</span> </div>
-<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea"> 353</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer,</div>
-<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordtype">bool</span> show_adjacency_map,</div>
-<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="keywordtype">bool</span> show_super_voxel_normals)</div>
-<div class="line"><a name="l00356"></a><span class="lineno"> 356</span> {</div>
-<div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="keywordflow">if</span>(this->detected_objects.size() > 0)</div>
-<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  {</div>
-<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  viewer->addPointCloud (this->labeled_voxel_cloud, <span class="stringliteral">"supervoxel_cloud"</span>);</div>
-<div class="line"><a name="l00360"></a><span class="lineno"> 360</span> </div>
-<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">//pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> rgb_cloud_obj(cloud);</span></div>
-<div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  <span class="comment">//viewer->addPointCloud<pcl::PointXYZRGBA> (cloud, rgb_cloud_obj, "maincloud");</span></div>
-<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">if</span>(show_super_voxel_normals)</div>
-<div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  viewer->addPointCloudNormals<pcl::PointNormal> (this->sv_normal_cloud,1,0.05f, <span class="stringliteral">"supervoxel_normals"</span>);</div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> </div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="comment">// resize </span></div>
+<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  detected_objects.resize(0); <span class="comment">// maybe it is useless</span></div>
+<div class="line"><a name="l00264"></a><span class="lineno"> 264</span> </div>
+<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="comment">// Checking for objects on the table</span></div>
+<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordflow">if</span>(this->cloud->points.size() == 0)</div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  pcl::console::print_warn(<span class="stringliteral">"No objects on the table\n"</span>);</div>
+<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  }</div>
+<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> </div>
+<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  super.setInputCloud (this->cloud);</div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
+<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="comment">//super.setNormalCloud (input_normals);</span></div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div>
+<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  super.setColorImportance (this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a>);</div>
+<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  super.setSpatialImportance (this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a>);</div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  super.setNormalImportance (this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a>);</div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  </div>
+<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  super.extract (supervoxel_clusters);</div>
+<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr voxel_centroid_cloud = super.getVoxelCentroidCloud ();</div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  sv_normal_cloud = super.makeSupervoxelNormalCloud (supervoxel_clusters);</div>
+<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr full_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  </div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  super.getSupervoxelAdjacency (supervoxel_adjacency);</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  </div>
+<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr > refined_supervoxel_clusters;</div>
+<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <span class="comment">// NO REFINEMENT!!</span></div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  <span class="comment">//super.refineSupervoxels (3, refined_supervoxel_clusters);</span></div>
+<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> </div>
+<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr refined_labeled_voxel_cloud = super.getLabeledVoxelCloud ();</div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  pcl::PointCloud<pcl::PointNormal>::Ptr refined_sv_normal_cloud = super.makeSupervoxelNormalCloud (refined_supervoxel_clusters);</div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr refined_full_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  </div>
+<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keyword">typedef</span> boost::adjacency_list<boost::setS, boost::setS, boost::undirectedS, uint32_t, float> VoxelAdjacencyList;</div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  VoxelAdjacencyList supervoxel_adjacency_list;</div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  super.getSupervoxelAdjacencyList (supervoxel_adjacency_list);</div>
+<div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div>
+<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="comment">// Segmentation Stuff</span></div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  </div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  uint k_factor = 0;</div>
+<div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <span class="keywordflow">if</span> (<a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a>)</div>
+<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  k_factor = 1;</div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  pcl::LCCPSegmentation<pcl::PointXYZRGBA> lccp;</div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  lccp.setConcavityToleranceThreshold (this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a>);</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  lccp.setSanityCheck (this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a>);</div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  lccp.setSmoothnessCheck (<span class="keyword">true</span>, this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>, this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a>);</div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  lccp.setKFactor (k_factor);</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  lccp.setInputSupervoxels (this->supervoxel_clusters, this->supervoxel_adjacency);</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  lccp.setMinSegmentSize (this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a>);</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  lccp.segment ();</div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span> </div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr sv_labeled_cloud = super.getLabeledCloud ();</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  lccp_labeled_cloud = sv_labeled_cloud->makeShared ();</div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  lccp.relabelCloud (*lccp_labeled_cloud);</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="comment">//std::cout << "size lccp_labeled_cloud: "<<lccp_labeled_cloud->points.size() << "\n";</span></div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="comment">//---------------------------------------------------------------------------------------------</span></div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span> </div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="comment">//float elapsed_time_seg = (cv::getTickCount()-t_ini)/cv::getTickFrequency() - elapsed_time_plane;</span></div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="comment">//------------------------------ SEGMENTATION POST PROCESSING ---------------------------------</span></div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="comment">//construct for each segmented object the point cloud associated to that object</span></div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < lccp_labeled_cloud->points.size(); ++i)</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  {</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  </div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  uint32_t idx = lccp_labeled_cloud->points.at(i).label;</div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span> </div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="comment">//in this way we enlarges the vector everytime we encounter a greater label. So we don't need to pass all </span></div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <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="l00333"></a><span class="lineno"> 333</span>  <span class="keywordflow">if</span>(idx >= detected_objects.size()) <span class="comment">// keep in mind that there is also the label 0! </span></div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  detected_objects.resize(idx+1);</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  </div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  pcl::PointXYZRGBA tmp_point_rgb;</div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  tmp_point_rgb = cloud->points.at(i);</div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  detected_objects[idx].object_cloud.points.push_back(tmp_point_rgb);</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span> </div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  detected_objects[idx].label = (int)idx;</div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  } </div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> </div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  <span class="comment">//remove segments with too few points</span></div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  <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="l00345"></a><span class="lineno"> 345</span>  <span class="keywordtype">int</span> size = detected_objects.size();</div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  <span class="keywordtype">int</span> i = 0;</div>
+<div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  <span class="keywordflow">while</span> (i < size)</div>
+<div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  {</div>
+<div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordflow">if</span>(detected_objects[i].object_cloud.size() < this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a>)</div>
+<div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  {</div>
+<div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  detected_objects.erase(detected_objects.begin() + i);</div>
+<div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  size = detected_objects.size();</div>
+<div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  }</div>
+<div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  i++;</div>
+<div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  }</div>
+<div class="line"><a name="l00357"></a><span class="lineno"> 357</span> </div>
+<div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="comment">//float elapsed_time = (cv::getTickCount()-t_ini)/cv::getTickFrequency();</span></div>
+<div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  </div>
+<div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  <span class="comment">//std::cout << "elapsed_time (segmentation and postprocessing): " << elapsed_time << "\nelapsed_time of LCCP segmentation: " << elapsed_time_seg << std::endl;</span></div>
+<div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="comment">//std::cout << "elapsed_time plane estimation: " << elapsed_time_plane << std::endl;</span></div>
+<div class="line"><a name="l00362"></a><span class="lineno"> 362</span> </div>
+<div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00364"></a><span class="lineno"> 364</span> }</div>
<div class="line"><a name="l00365"></a><span class="lineno"> 365</span> </div>
-<div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">if</span>(show_adjacency_map)</div>
-<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  {</div>
-<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  {</div>
-<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  <span class="comment">//First get the label</span></div>
-<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  uint32_t supervoxel_label = label_itr->first;</div>
-<div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
-<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  </div>
-<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr supervoxel = this->supervoxel_clusters.at (supervoxel_label);</div>
-<div class="line"><a name="l00376"></a><span class="lineno"> 376</span> </div>
-<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  <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="l00378"></a><span class="lineno"> 378</span>  pcl::PointCloud<pcl::PointXYZRGBA> adjacent_supervoxel_centers;</div>
-<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = this->supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
-<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordflow">for</span> ( ; adjacent_itr!=this->supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
-<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  {</div>
-<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr neighbor_supervoxel = this->supervoxel_clusters.at (adjacent_itr->second);</div>
-<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);</div>
-<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  }</div>
-<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="comment">//Now we make a name for this polygon</span></div>
-<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  std::stringstream ss;</div>
-<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
-<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given</span></div>
-<div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">addSupervoxelConnectionsToViewer</a> (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
-<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <span class="comment">//Move iterator forward to next label</span></div>
-<div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div>
-<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  } </div>
-<div class="line"><a name="l00394"></a><span class="lineno"> 394</span> </div>
-<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  }</div>
-<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00397"></a><span class="lineno"> 397</span> }</div>
-<div class="line"><a name="l00398"></a><span class="lineno"> 398</span> </div>
-<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a7454c5052b1674196ef0c2d3ab80e88d"> 399</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
-<div class="line"><a name="l00400"></a><span class="lineno"> 400</span> {</div>
-<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">if</span>(this->detected_objects.size() > 0)</div>
-<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  {</div>
-<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  viewer->addPointCloud (this->labeled_voxel_cloud, <span class="stringliteral">"supervoxel_cloud"</span>); </div>
-<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  viewer->addPointCloudNormals<pcl::PointNormal> (this->sv_normal_cloud,1,0.05f, <span class="stringliteral">"supervoxel_normals"</span>);</div>
-<div class="line"><a name="l00405"></a><span class="lineno"> 405</span> </div>
-<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  {</div>
-<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="comment">//First get the label</span></div>
-<div class="line"><a name="l00410"></a><span class="lineno"> 410</span>  uint32_t supervoxel_label = label_itr->first;</div>
-<div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
-<div class="line"><a name="l00412"></a><span class="lineno"> 412</span>  </div>
-<div class="line"><a name="l00413"></a><span class="lineno"> 413</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr supervoxel = this->supervoxel_clusters.at (supervoxel_label);</div>
-<div class="line"><a name="l00414"></a><span class="lineno"> 414</span> </div>
-<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  <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="l00416"></a><span class="lineno"> 416</span>  pcl::PointCloud<pcl::PointXYZRGBA> adjacent_supervoxel_centers;</div>
-<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = this->supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
-<div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  <span class="keywordflow">for</span> ( ; adjacent_itr!=this->supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
-<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  {</div>
-<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr neighbor_supervoxel = this->supervoxel_clusters.at (adjacent_itr->second);</div>
-<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);</div>
-<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  }</div>
-<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  <span class="comment">//Now we make a name for this polygon</span></div>
-<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  std::stringstream ss;</div>
-<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
-<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given</span></div>
-<div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">addSupervoxelConnectionsToViewer</a> (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
-<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <span class="comment">//Move iterator forward to next label</span></div>
-<div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  } </div>
-<div class="line"><a name="l00431"></a><span class="lineno"> 431</span> </div>
-<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  }</div>
-<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00434"></a><span class="lineno"> 434</span> }</div>
-<div class="line"><a name="l00435"></a><span class="lineno"> 435</span> </div>
-<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba"> 436</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
-<div class="line"><a name="l00437"></a><span class="lineno"> 437</span> {</div>
-<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  pcl::PointCloud<pcl::PointXYZL> objects_cloud;</div>
-<div class="line"><a name="l00439"></a><span class="lineno"> 439</span> </div>
-<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < this->detected_objects.size(); ++i)</div>
-<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  {</div>
-<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  pcl::PointCloud<pcl::PointXYZL> tmp_cloud;</div>
-<div class="line"><a name="l00443"></a><span class="lineno"> 443</span> </div>
-<div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p = 0; p < this->detected_objects[i].object_cloud.size(); ++p)</div>
-<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  {</div>
-<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  pcl::PointXYZL tmp_point;</div>
-<div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  tmp_point.x = this->detected_objects[i].object_cloud[p].x;</div>
-<div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  tmp_point.y = this->detected_objects[i].object_cloud[p].y;</div>
-<div class="line"><a name="l00449"></a><span class="lineno"> 449</span>  tmp_point.z = this->detected_objects[i].object_cloud[p].z;</div>
-<div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  tmp_point.label = this->detected_objects[i].label;</div>
-<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  tmp_cloud.points.push_back(tmp_point);</div>
-<div class="line"><a name="l00452"></a><span class="lineno"> 452</span>  }</div>
-<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  </div>
-<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  objects_cloud += tmp_cloud;</div>
-<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  }</div>
+<div class="line"><a name="l00366"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea"> 366</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer,</div>
+<div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  <span class="keywordtype">bool</span> show_adjacency_map,</div>
+<div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  <span class="keywordtype">bool</span> show_super_voxel_normals)</div>
+<div class="line"><a name="l00369"></a><span class="lineno"> 369</span> {</div>
+<div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">if</span>(this->detected_objects.size() > 0)</div>
+<div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  {</div>
+<div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  viewer->addPointCloud (this->labeled_voxel_cloud, <span class="stringliteral">"supervoxel_cloud"</span>);</div>
+<div class="line"><a name="l00373"></a><span class="lineno"> 373</span> </div>
+<div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  <span class="comment">//pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGBA> rgb_cloud_obj(cloud);</span></div>
+<div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="comment">//viewer->addPointCloud<pcl::PointXYZRGBA> (cloud, rgb_cloud_obj, "maincloud");</span></div>
+<div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  <span class="keywordflow">if</span>(show_super_voxel_normals)</div>
+<div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  viewer->addPointCloudNormals<pcl::PointNormal> (this->sv_normal_cloud,1,0.05f, <span class="stringliteral">"supervoxel_normals"</span>);</div>
+<div class="line"><a name="l00378"></a><span class="lineno"> 378</span> </div>
+<div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  <span class="keywordflow">if</span>(show_adjacency_map)</div>
+<div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  {</div>
+<div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
+<div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  {</div>
+<div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="comment">//First get the label</span></div>
+<div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  uint32_t supervoxel_label = label_itr->first;</div>
+<div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
+<div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  </div>
+<div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr supervoxel = this->supervoxel_clusters.at (supervoxel_label);</div>
+<div class="line"><a name="l00389"></a><span class="lineno"> 389</span> </div>
+<div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  <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="l00391"></a><span class="lineno"> 391</span>  pcl::PointCloud<pcl::PointXYZRGBA> adjacent_supervoxel_centers;</div>
+<div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = this->supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
+<div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  <span class="keywordflow">for</span> ( ; adjacent_itr!=this->supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
+<div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  {</div>
+<div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr neighbor_supervoxel = this->supervoxel_clusters.at (adjacent_itr->second);</div>
+<div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);</div>
+<div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  }</div>
+<div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="comment">//Now we make a name for this polygon</span></div>
+<div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
+<div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given</span></div>
+<div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">addSupervoxelConnectionsToViewer</a> (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
+<div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  <span class="comment">//Move iterator forward to next label</span></div>
+<div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
+<div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  }</div>
+<div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  } </div>
+<div class="line"><a name="l00407"></a><span class="lineno"> 407</span> </div>
+<div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  }</div>
+<div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00410"></a><span class="lineno"> 410</span> }</div>
+<div class="line"><a name="l00411"></a><span class="lineno"> 411</span> </div>
+<div class="line"><a name="l00412"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a7454c5052b1674196ef0c2d3ab80e88d"> 412</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
+<div class="line"><a name="l00413"></a><span class="lineno"> 413</span> {</div>
+<div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  <span class="keywordflow">if</span>(this->detected_objects.size() > 0)</div>
+<div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  {</div>
+<div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  viewer->addPointCloud (this->labeled_voxel_cloud, <span class="stringliteral">"supervoxel_cloud"</span>); </div>
+<div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  viewer->addPointCloudNormals<pcl::PointNormal> (this->sv_normal_cloud,1,0.05f, <span class="stringliteral">"supervoxel_normals"</span>);</div>
+<div class="line"><a name="l00418"></a><span class="lineno"> 418</span> </div>
+<div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
+<div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  {</div>
+<div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  <span class="comment">//First get the label</span></div>
+<div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  uint32_t supervoxel_label = label_itr->first;</div>
+<div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  <span class="comment">//Now get the supervoxel corresponding to the label</span></div>
+<div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  </div>
+<div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr supervoxel = this->supervoxel_clusters.at (supervoxel_label);</div>
+<div class="line"><a name="l00427"></a><span class="lineno"> 427</span> </div>
+<div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  <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="l00429"></a><span class="lineno"> 429</span>  pcl::PointCloud<pcl::PointXYZRGBA> adjacent_supervoxel_centers;</div>
+<div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  std::multimap<uint32_t,uint32_t>::iterator adjacent_itr = this->supervoxel_adjacency.equal_range (supervoxel_label).first;</div>
+<div class="line"><a name="l00431"></a><span class="lineno"> 431</span>  <span class="keywordflow">for</span> ( ; adjacent_itr!=this->supervoxel_adjacency.equal_range (supervoxel_label).second; ++adjacent_itr)</div>
+<div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  {</div>
+<div class="line"><a name="l00433"></a><span class="lineno"> 433</span>  pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr neighbor_supervoxel = this->supervoxel_clusters.at (adjacent_itr->second);</div>
+<div class="line"><a name="l00434"></a><span class="lineno"> 434</span>  adjacent_supervoxel_centers.push_back (neighbor_supervoxel->centroid_);</div>
+<div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  }</div>
+<div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  <span class="comment">//Now we make a name for this polygon</span></div>
+<div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
+<div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  <span class="comment">//This function is shown below, but is beyond the scope of this tutorial - basically it just generates a "star" polygon mesh from the points given</span></div>
+<div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">addSupervoxelConnectionsToViewer</a> (supervoxel->centroid_, adjacent_supervoxel_centers, ss.str (), viewer);</div>
+<div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  <span class="comment">//Move iterator forward to next label</span></div>
+<div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
+<div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  } </div>
+<div class="line"><a name="l00444"></a><span class="lineno"> 444</span> </div>
+<div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  }</div>
+<div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00447"></a><span class="lineno"> 447</span> }</div>
+<div class="line"><a name="l00448"></a><span class="lineno"> 448</span> </div>
+<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba"> 449</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
+<div class="line"><a name="l00450"></a><span class="lineno"> 450</span> {</div>
+<div class="line"><a name="l00451"></a><span class="lineno"> 451</span>  pcl::PointCloud<pcl::PointXYZL> objects_cloud;</div>
+<div class="line"><a name="l00452"></a><span class="lineno"> 452</span> </div>
+<div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < this->detected_objects.size(); ++i)</div>
+<div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  {</div>
+<div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  pcl::PointCloud<pcl::PointXYZL> tmp_cloud;</div>
<div class="line"><a name="l00456"></a><span class="lineno"> 456</span> </div>
-<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  viewer->addPointCloud(objects_cloud.makeShared(), <span class="stringliteral">"segmented_object_cloud"</span>);</div>
-<div class="line"><a name="l00458"></a><span class="lineno"> 458</span> </div>
-<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00460"></a><span class="lineno"> 460</span> }</div>
-<div class="line"><a name="l00461"></a><span class="lineno"> 461</span> </div>
-<div class="line"><a name="l00462"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0"> 462</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
-<div class="line"><a name="l00463"></a><span class="lineno"> 463</span> {</div>
-<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  viewer->removePointCloud(<span class="stringliteral">"supervoxel_cloud"</span>);</div>
-<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  viewer->removePointCloud(<span class="stringliteral">"supervoxel_normals"</span>);</div>
-<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  viewer->removePointCloud(<span class="stringliteral">"segmented_object_cloud"</span>);</div>
-<div class="line"><a name="l00467"></a><span class="lineno"> 467</span> </div>
-<div class="line"><a name="l00468"></a><span class="lineno"> 468</span> </div>
-<div class="line"><a name="l00469"></a><span class="lineno"> 469</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
-<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
-<div class="line"><a name="l00471"></a><span class="lineno"> 471</span>  {</div>
-<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  uint32_t supervoxel_label = label_itr->first;</div>
-<div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  std::stringstream ss;</div>
-<div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
-<div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  viewer->removeShape (ss.str());</div>
-<div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
-<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  } </div>
-<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  <span class="keywordflow">return</span>;</div>
-<div class="line"><a name="l00479"></a><span class="lineno"> 479</span> }</div>
+<div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> p = 0; p < this->detected_objects[i].object_cloud.size(); ++p)</div>
+<div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  {</div>
+<div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  pcl::PointXYZL tmp_point;</div>
+<div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  tmp_point.x = this->detected_objects[i].object_cloud[p].x;</div>
+<div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  tmp_point.y = this->detected_objects[i].object_cloud[p].y;</div>
+<div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  tmp_point.z = this->detected_objects[i].object_cloud[p].z;</div>
+<div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  tmp_point.label = this->detected_objects[i].label;</div>
+<div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  tmp_cloud.points.push_back(tmp_point);</div>
+<div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  }</div>
+<div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  </div>
+<div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  objects_cloud += tmp_cloud;</div>
+<div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  }</div>
+<div class="line"><a name="l00469"></a><span class="lineno"> 469</span> </div>
+<div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  viewer->addPointCloud(objects_cloud.makeShared(), <span class="stringliteral">"segmented_object_cloud"</span>);</div>
+<div class="line"><a name="l00471"></a><span class="lineno"> 471</span> </div>
+<div class="line"><a name="l00472"></a><span class="lineno"> 472</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00473"></a><span class="lineno"> 473</span> }</div>
+<div class="line"><a name="l00474"></a><span class="lineno"> 474</span> </div>
+<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0"> 475</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer)</div>
+<div class="line"><a name="l00476"></a><span class="lineno"> 476</span> {</div>
+<div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  viewer->removePointCloud(<span class="stringliteral">"supervoxel_cloud"</span>);</div>
+<div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  viewer->removePointCloud(<span class="stringliteral">"supervoxel_normals"</span>);</div>
+<div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  viewer->removePointCloud(<span class="stringliteral">"segmented_object_cloud"</span>);</div>
<div class="line"><a name="l00480"></a><span class="lineno"> 480</span> </div>
-<div class="line"><a name="l00481"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660"> 481</a></span> std::vector<Object> <a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a>()</div>
-<div class="line"><a name="l00482"></a><span class="lineno"> 482</span> {</div>
-<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="keywordflow">return</span> this->detected_objects;</div>
-<div class="line"><a name="l00484"></a><span class="lineno"> 484</span> }</div>
-<div class="line"><a name="l00485"></a><span class="lineno"> 485</span> </div>
-<div class="line"><a name="l00486"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9"> 486</a></span> std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > <a class="code" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a>()</div>
-<div class="line"><a name="l00487"></a><span class="lineno"> 487</span> {</div>
-<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > obj_vec;</div>
-<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div>
-<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < this->detected_objects.size(); ++i)</div>
-<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  {</div>
-<div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  obj_vec.push_back(detected_objects[i].object_cloud);</div>
-<div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  }</div>
-<div class="line"><a name="l00494"></a><span class="lineno"> 494</span> </div>
-<div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  <span class="keywordflow">return</span> obj_vec;</div>
-<div class="line"><a name="l00496"></a><span class="lineno"> 496</span> }</div>
-<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> </div>
-<div class="line"><a name="l00498"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84"> 498</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::print_parameters</a>()</div>
-<div class="line"><a name="l00499"></a><span class="lineno"> 499</span> {</div>
-<div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  std::cout << <span class="stringliteral">"\ntos_supervoxels parameters: \n"</span></div>
-<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  << <span class="stringliteral">"----------------- Supervoxel parameters ---------\n"</span></div>
-<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  << <span class="stringliteral">"disable_transform: "</span> << (bool)this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> << std::endl</div>
-<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  << <span class="stringliteral">"voxel_resolution: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> << std::endl </div>
-<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  << <span class="stringliteral">"seed_resolution: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> << std::endl </div>
-<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  << <span class="stringliteral">"color_importance: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> << std::endl</div>
-<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  << <span class="stringliteral">"spatial_importance: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> << std::endl </div>
-<div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  << <span class="stringliteral">"normal_importance: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> << std::endl </div>
-<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  << <span class="stringliteral">"----------------- LCCP parameters ---------------\n"</span></div>
-<div class="line"><a name="l00509"></a><span class="lineno"> 509</span>  << <span class="stringliteral">"concavity_tolerance_threshold: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> << std::endl </div>
-<div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  << <span class="stringliteral">"smoothness_threshold: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> << std::endl </div>
-<div class="line"><a name="l00511"></a><span class="lineno"> 511</span>  << <span class="stringliteral">"min_segment_size: "</span> << (int)this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> << std::endl </div>
-<div class="line"><a name="l00512"></a><span class="lineno"> 512</span>  << <span class="stringliteral">"use_extended_convexity: "</span> << (<span class="keywordtype">bool</span>)this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> << std::endl </div>
-<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  << <span class="stringliteral">"use_sanity_criterion: "</span> << (bool)this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> << std::endl </div>
-<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  << <span class="stringliteral">"----------------- Others parameters -------------\n"</span></div>
-<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  << <span class="stringliteral">"zmin: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> << std::endl </div>
-<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  << <span class="stringliteral">"zmax: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> << std::endl </div>
-<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  << <span class="stringliteral">"th_points: "</span> << (<span class="keywordtype">int</span>)this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> << std::endl << std::endl; </div>
-<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  <span class="keywordflow">return</span>; </div>
-<div class="line"><a name="l00519"></a><span class="lineno"> 519</span> }</div>
-<div class="line"><a name="l00520"></a><span class="lineno"> 520</span> </div>
-<div class="line"><a name="l00521"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0"> 521</a></span> pcl::PointCloud<pcl::PointXYZRGBA>::Ptr <a class="code" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a>()</div>
-<div class="line"><a name="l00522"></a><span class="lineno"> 522</span> {</div>
-<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  <span class="keywordflow">return</span> this->cloud;</div>
-<div class="line"><a name="l00524"></a><span class="lineno"> 524</span> }</div>
-<div class="line"><a name="l00525"></a><span class="lineno"> 525</span> </div>
-<div class="line"><a name="l00526"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120"> 526</a></span> pcl::PointCloud<pcl::PointXYZL> <a class="code" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a>()</div>
-<div class="line"><a name="l00527"></a><span class="lineno"> 527</span> {</div>
-<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  <span class="keywordflow">return</span> *(this->labeled_voxel_cloud);</div>
-<div class="line"><a name="l00529"></a><span class="lineno"> 529</span> }</div>
-<div class="line"><a name="l00530"></a><span class="lineno"> 530</span> </div>
-<div class="line"><a name="l00531"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843"> 531</a></span> std::multimap<uint32_t, uint32_t> <a class="code" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a>()</div>
-<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> {</div>
-<div class="line"><a name="l00533"></a><span class="lineno"> 533</span>  <span class="keywordflow">return</span> this->supervoxel_adjacency;</div>
-<div class="line"><a name="l00534"></a><span class="lineno"> 534</span> }</div>
-<div class="line"><a name="l00535"></a><span class="lineno"> 535</span> </div>
-<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1"> 536</a></span> std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr> <a class="code" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a>()</div>
-<div class="line"><a name="l00537"></a><span class="lineno"> 537</span> {</div>
-<div class="line"><a name="l00538"></a><span class="lineno"> 538</span>  <span class="keywordflow">return</span> this->supervoxel_clusters;</div>
-<div class="line"><a name="l00539"></a><span class="lineno"> 539</span> }</div>
-<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> </div>
-<div class="line"><a name="l00541"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af"> 541</a></span> pcl::PointCloud<pcl::PointNormal> <a class="code" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a>()</div>
-<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> {</div>
-<div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  <span class="keywordflow">return</span> *(this->sv_normal_cloud);</div>
-<div class="line"><a name="l00544"></a><span class="lineno"> 544</span> }</div>
-<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> </div>
-<div class="line"><a name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">void</span> tos_supervoxels::set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in)</div>
-<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> {</div>
-<div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = disable_transform_in;</div>
-<div class="line"><a name="l00549"></a><span class="lineno"> 549</span> }</div>
-<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">void</span> tos_supervoxels::set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in)</div>
-<div class="line"><a name="l00551"></a><span class="lineno"> 551</span> {</div>
-<div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = voxel_resolution_in;</div>
-<div class="line"><a name="l00553"></a><span class="lineno"> 553</span> }</div>
-<div class="line"><a name="l00554"></a><span class="lineno"> 554</span> <span class="keywordtype">void</span> tos_supervoxels::set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in)</div>
+<div class="line"><a name="l00481"></a><span class="lineno"> 481</span> </div>
+<div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  std::multimap<uint32_t,uint32_t>::iterator label_itr = (this->supervoxel_adjacency).begin ();</div>
+<div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  <span class="keywordflow">for</span> ( ; label_itr != (this->supervoxel_adjacency).end(); )</div>
+<div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  {</div>
+<div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  uint32_t supervoxel_label = label_itr->first;</div>
+<div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  ss << <span class="stringliteral">"supervoxel_"</span> << supervoxel_label;</div>
+<div class="line"><a name="l00488"></a><span class="lineno"> 488</span>  viewer->removeShape (ss.str());</div>
+<div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  label_itr = (this->supervoxel_adjacency).upper_bound (supervoxel_label);</div>
+<div class="line"><a name="l00490"></a><span class="lineno"> 490</span>  } </div>
+<div class="line"><a name="l00491"></a><span class="lineno"> 491</span>  <span class="keywordflow">return</span>;</div>
+<div class="line"><a name="l00492"></a><span class="lineno"> 492</span> }</div>
+<div class="line"><a name="l00493"></a><span class="lineno"> 493</span> </div>
+<div class="line"><a name="l00494"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660"> 494</a></span> std::vector<Object> <a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a>()</div>
+<div class="line"><a name="l00495"></a><span class="lineno"> 495</span> {</div>
+<div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  <span class="keywordflow">return</span> this->detected_objects;</div>
+<div class="line"><a name="l00497"></a><span class="lineno"> 497</span> }</div>
+<div class="line"><a name="l00498"></a><span class="lineno"> 498</span> </div>
+<div class="line"><a name="l00499"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9"> 499</a></span> std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > <a class="code" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a>()</div>
+<div class="line"><a name="l00500"></a><span class="lineno"> 500</span> {</div>
+<div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > obj_vec;</div>
+<div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  </div>
+<div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < this->detected_objects.size(); ++i)</div>
+<div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  {</div>
+<div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  obj_vec.push_back(detected_objects[i].object_cloud);</div>
+<div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  }</div>
+<div class="line"><a name="l00507"></a><span class="lineno"> 507</span> </div>
+<div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  <span class="keywordflow">return</span> obj_vec;</div>
+<div class="line"><a name="l00509"></a><span class="lineno"> 509</span> }</div>
+<div class="line"><a name="l00510"></a><span class="lineno"> 510</span> </div>
+<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84"> 511</a></span> <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::print_parameters</a>()</div>
+<div class="line"><a name="l00512"></a><span class="lineno"> 512</span> {</div>
+<div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  std::cout << <span class="stringliteral">"\ntos_supervoxels parameters: \n"</span></div>
+<div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  << <span class="stringliteral">"----------------- Supervoxel parameters ---------\n"</span></div>
+<div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  << <span class="stringliteral">"disable_transform: "</span> << (bool)this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> << std::endl</div>
+<div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  << <span class="stringliteral">"voxel_resolution: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> << std::endl </div>
+<div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  << <span class="stringliteral">"seed_resolution: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> << std::endl </div>
+<div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  << <span class="stringliteral">"color_importance: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> << std::endl</div>
+<div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  << <span class="stringliteral">"spatial_importance: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> << std::endl </div>
+<div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  << <span class="stringliteral">"normal_importance: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> << std::endl </div>
+<div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  << <span class="stringliteral">"----------------- LCCP parameters ---------------\n"</span></div>
+<div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  << <span class="stringliteral">"concavity_tolerance_threshold: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> << std::endl </div>
+<div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  << <span class="stringliteral">"smoothness_threshold: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> << std::endl </div>
+<div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  << <span class="stringliteral">"min_segment_size: "</span> << (int)this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> << std::endl </div>
+<div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  << <span class="stringliteral">"use_extended_convexity: "</span> << (<span class="keywordtype">bool</span>)this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> << std::endl </div>
+<div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  << <span class="stringliteral">"use_sanity_criterion: "</span> << (bool)this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> << std::endl </div>
+<div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  << <span class="stringliteral">"----------------- Others parameters -------------\n"</span></div>
+<div class="line"><a name="l00528"></a><span class="lineno"> 528</span>  << <span class="stringliteral">"zmin: "</span> << (<span class="keywordtype">double</span>)this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> << std::endl </div>
+<div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  << <span class="stringliteral">"zmax: "</span> << (double)this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> << std::endl </div>
+<div class="line"><a name="l00530"></a><span class="lineno"> 530</span>  << <span class="stringliteral">"th_points: "</span> << (<span class="keywordtype">int</span>)this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> << std::endl << std::endl; </div>
+<div class="line"><a name="l00531"></a><span class="lineno"> 531</span>  <span class="keywordflow">return</span>; </div>
+<div class="line"><a name="l00532"></a><span class="lineno"> 532</span> }</div>
+<div class="line"><a name="l00533"></a><span class="lineno"> 533</span> </div>
+<div class="line"><a name="l00534"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0"> 534</a></span> pcl::PointCloud<pcl::PointXYZRGBA>::Ptr <a class="code" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a>()</div>
+<div class="line"><a name="l00535"></a><span class="lineno"> 535</span> {</div>
+<div class="line"><a name="l00536"></a><span class="lineno"> 536</span>  <span class="keywordflow">return</span> this->cloud;</div>
+<div class="line"><a name="l00537"></a><span class="lineno"> 537</span> }</div>
+<div class="line"><a name="l00538"></a><span class="lineno"> 538</span> </div>
+<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120"> 539</a></span> pcl::PointCloud<pcl::PointXYZL> <a class="code" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a>()</div>
+<div class="line"><a name="l00540"></a><span class="lineno"> 540</span> {</div>
+<div class="line"><a name="l00541"></a><span class="lineno"> 541</span>  <span class="keywordflow">return</span> *(this->labeled_voxel_cloud);</div>
+<div class="line"><a name="l00542"></a><span class="lineno"> 542</span> }</div>
+<div class="line"><a name="l00543"></a><span class="lineno"> 543</span> </div>
+<div class="line"><a name="l00544"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843"> 544</a></span> std::multimap<uint32_t, uint32_t> <a class="code" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a>()</div>
+<div class="line"><a name="l00545"></a><span class="lineno"> 545</span> {</div>
+<div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  <span class="keywordflow">return</span> this->supervoxel_adjacency;</div>
+<div class="line"><a name="l00547"></a><span class="lineno"> 547</span> }</div>
+<div class="line"><a name="l00548"></a><span class="lineno"> 548</span> </div>
+<div class="line"><a name="l00549"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1"> 549</a></span> std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr> <a class="code" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a>()</div>
+<div class="line"><a name="l00550"></a><span class="lineno"> 550</span> {</div>
+<div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  <span class="keywordflow">return</span> this->supervoxel_clusters;</div>
+<div class="line"><a name="l00552"></a><span class="lineno"> 552</span> }</div>
+<div class="line"><a name="l00553"></a><span class="lineno"> 553</span> </div>
+<div class="line"><a name="l00554"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af"> 554</a></span> pcl::PointCloud<pcl::PointNormal> <a class="code" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a>()</div>
<div class="line"><a name="l00555"></a><span class="lineno"> 555</span> {</div>
-<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = seed_resolution_in;</div>
+<div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  <span class="keywordflow">return</span> *(this->sv_normal_cloud);</div>
<div class="line"><a name="l00557"></a><span class="lineno"> 557</span> }</div>
-<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> <span class="keywordtype">void</span> tos_supervoxels::set_color_importance(<span class="keywordtype">double</span> color_importance_in)</div>
-<div class="line"><a name="l00559"></a><span class="lineno"> 559</span> {</div>
-<div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = color_importance_in;</div>
-<div class="line"><a name="l00561"></a><span class="lineno"> 561</span> }</div>
-<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> <span class="keywordtype">void</span> tos_supervoxels::set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in)</div>
-<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> {</div>
-<div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = spatial_importance_in;</div>
-<div class="line"><a name="l00565"></a><span class="lineno"> 565</span> }</div>
-<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> <span class="keywordtype">void</span> tos_supervoxels::set_normal_importance(<span class="keywordtype">double</span> normal_importance_in)</div>
-<div class="line"><a name="l00567"></a><span class="lineno"> 567</span> {</div>
-<div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = normal_importance_in;</div>
-<div class="line"><a name="l00569"></a><span class="lineno"> 569</span> }</div>
-<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> <span class="keywordtype">void</span> tos_supervoxels::set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in)</div>
-<div class="line"><a name="l00571"></a><span class="lineno"> 571</span> {</div>
-<div class="line"><a name="l00572"></a><span class="lineno"> 572</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = concavity_tolerance_threshold_in;</div>
-<div class="line"><a name="l00573"></a><span class="lineno"> 573</span> }</div>
-<div class="line"><a name="l00574"></a><span class="lineno"> 574</span> <span class="keywordtype">void</span> tos_supervoxels::set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in)</div>
-<div class="line"><a name="l00575"></a><span class="lineno"> 575</span> {</div>
-<div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = smoothness_threshold_in;</div>
-<div class="line"><a name="l00577"></a><span class="lineno"> 577</span> }</div>
-<div class="line"><a name="l00578"></a><span class="lineno"> 578</span> <span class="keywordtype">void</span> tos_supervoxels::set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in)</div>
-<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> {</div>
-<div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = min_segment_size_in;</div>
-<div class="line"><a name="l00581"></a><span class="lineno"> 581</span> }</div>
-<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> <span class="keywordtype">void</span> tos_supervoxels::set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in)</div>
-<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> {</div>
-<div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = use_extended_convexity_in;</div>
-<div class="line"><a name="l00585"></a><span class="lineno"> 585</span> }</div>
-<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> <span class="keywordtype">void</span> tos_supervoxels::set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in)</div>
-<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> {</div>
-<div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = use_sanity_criterion_in;</div>
-<div class="line"><a name="l00589"></a><span class="lineno"> 589</span> }</div>
-<div class="line"><a name="l00590"></a><span class="lineno"> 590</span> <span class="keywordtype">void</span> tos_supervoxels::set_zmin(<span class="keywordtype">double</span> zmin_in)</div>
-<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> {</div>
-<div class="line"><a name="l00592"></a><span class="lineno"> 592</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = zmin_in;</div>
-<div class="line"><a name="l00593"></a><span class="lineno"> 593</span> }</div>
-<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> <span class="keywordtype">void</span> tos_supervoxels::set_zmax(<span class="keywordtype">double</span> zmax_in)</div>
-<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> {</div>
-<div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = zmax_in;</div>
-<div class="line"><a name="l00597"></a><span class="lineno"> 597</span> }</div>
-<div class="line"><a name="l00598"></a><span class="lineno"> 598</span> <span class="keywordtype">void</span> tos_supervoxels::set_th_points(<span class="keywordtype">int</span> th_points_in)</div>
-<div class="line"><a name="l00599"></a><span class="lineno"> 599</span> {</div>
-<div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = th_points_in;</div>
-<div class="line"><a name="l00601"></a><span class="lineno"> 601</span> }</div>
-<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> <span class="keywordtype">bool</span> tos_supervoxels::get_disable_transform()</div>
-<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> {</div>
-<div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a>;</div>
-<div class="line"><a name="l00605"></a><span class="lineno"> 605</span> }</div>
-<div class="line"><a name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">double</span> tos_supervoxels::get_voxel_resolution()</div>
-<div class="line"><a name="l00607"></a><span class="lineno"> 607</span> {</div>
-<div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>;</div>
-<div class="line"><a name="l00609"></a><span class="lineno"> 609</span> }</div>
-<div class="line"><a name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">double</span> tos_supervoxels::get_seed_resolution()</div>
-<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> {</div>
-<div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>;</div>
-<div class="line"><a name="l00613"></a><span class="lineno"> 613</span> }</div>
-<div class="line"><a name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">double</span> tos_supervoxels::get_color_importance()</div>
-<div class="line"><a name="l00615"></a><span class="lineno"> 615</span> {</div>
-<div class="line"><a name="l00616"></a><span class="lineno"> 616</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a>;</div>
-<div class="line"><a name="l00617"></a><span class="lineno"> 617</span> }</div>
-<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> <span class="keywordtype">double</span> tos_supervoxels::get_spatial_importance()</div>
-<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> {</div>
-<div class="line"><a name="l00620"></a><span class="lineno"> 620</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a>;</div>
-<div class="line"><a name="l00621"></a><span class="lineno"> 621</span> }</div>
-<div class="line"><a name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">double</span> tos_supervoxels::get_normal_importance()</div>
-<div class="line"><a name="l00623"></a><span class="lineno"> 623</span> {</div>
-<div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a>;</div>
-<div class="line"><a name="l00625"></a><span class="lineno"> 625</span> }</div>
-<div class="line"><a name="l00626"></a><span class="lineno"> 626</span> <span class="keywordtype">double</span> tos_supervoxels::get_concavity_tolerance_threshold()</div>
-<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> {</div>
-<div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a>;</div>
-<div class="line"><a name="l00629"></a><span class="lineno"> 629</span> }</div>
-<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> <span class="keywordtype">double</span> tos_supervoxels::tos_supervoxels::tos_supervoxels::get_smoothness_threshold()</div>
-<div class="line"><a name="l00631"></a><span class="lineno"> 631</span> {</div>
-<div class="line"><a name="l00632"></a><span class="lineno"> 632</span>  <span class="keywordflow">return</span> this->smoothness_threshold;</div>
-<div class="line"><a name="l00633"></a><span class="lineno"> 633</span> }</div>
-<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> <span class="keywordtype">int</span> tos_supervoxels::tos_supervoxels::get_min_segment_size()</div>
-<div class="line"><a name="l00635"></a><span class="lineno"> 635</span> {</div>
-<div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  <span class="keywordflow">return</span> this->min_segment_size;</div>
-<div class="line"><a name="l00637"></a><span class="lineno"> 637</span> }</div>
-<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> <span class="keywordtype">bool</span> tos_supervoxels::get_use_extended_convexity()</div>
-<div class="line"><a name="l00639"></a><span class="lineno"> 639</span> {</div>
-<div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a>;</div>
-<div class="line"><a name="l00641"></a><span class="lineno"> 641</span> }</div>
-<div class="line"><a name="l00642"></a><span class="lineno"> 642</span> <span class="keywordtype">bool</span> tos_supervoxels::get_use_sanity_criterion()</div>
-<div class="line"><a name="l00643"></a><span class="lineno"> 643</span> {</div>
-<div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a>;</div>
-<div class="line"><a name="l00645"></a><span class="lineno"> 645</span> }</div>
-<div class="line"><a name="l00646"></a><span class="lineno"> 646</span> <span class="keywordtype">double</span> tos_supervoxels::get_zmin()</div>
-<div class="line"><a name="l00647"></a><span class="lineno"> 647</span> {</div>
-<div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a>;</div>
-<div class="line"><a name="l00649"></a><span class="lineno"> 649</span> }</div>
-<div class="line"><a name="l00650"></a><span class="lineno"> 650</span> <span class="keywordtype">double</span> tos_supervoxels::get_zmax()</div>
-<div class="line"><a name="l00651"></a><span class="lineno"> 651</span> {</div>
-<div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a>;</div>
-<div class="line"><a name="l00653"></a><span class="lineno"> 653</span> }</div>
-<div class="line"><a name="l00654"></a><span class="lineno"> 654</span> <span class="keywordtype">int</span> tos_supervoxels::get_th_points()</div>
-<div class="line"><a name="l00655"></a><span class="lineno"> 655</span> {</div>
-<div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a>;</div>
-<div class="line"><a name="l00657"></a><span class="lineno"> 657</span> }</div>
+<div class="line"><a name="l00558"></a><span class="lineno"> 558</span> </div>
+<div class="line"><a name="l00559"></a><span class="lineno"> 559</span> <span class="keywordtype">void</span> tos_supervoxels::set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in)</div>
+<div class="line"><a name="l00560"></a><span class="lineno"> 560</span> {</div>
+<div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a> = disable_transform_in;</div>
+<div class="line"><a name="l00562"></a><span class="lineno"> 562</span> }</div>
+<div class="line"><a name="l00563"></a><span class="lineno"> 563</span> <span class="keywordtype">void</span> tos_supervoxels::set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in)</div>
+<div class="line"><a name="l00564"></a><span class="lineno"> 564</span> {</div>
+<div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a> = voxel_resolution_in;</div>
+<div class="line"><a name="l00566"></a><span class="lineno"> 566</span> }</div>
+<div class="line"><a name="l00567"></a><span class="lineno"> 567</span> <span class="keywordtype">void</span> tos_supervoxels::set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in)</div>
+<div class="line"><a name="l00568"></a><span class="lineno"> 568</span> {</div>
+<div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a> = seed_resolution_in;</div>
+<div class="line"><a name="l00570"></a><span class="lineno"> 570</span> }</div>
+<div class="line"><a name="l00571"></a><span class="lineno"> 571</span> <span class="keywordtype">void</span> tos_supervoxels::set_color_importance(<span class="keywordtype">double</span> color_importance_in)</div>
+<div class="line"><a name="l00572"></a><span class="lineno"> 572</span> {</div>
+<div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a> = color_importance_in;</div>
+<div class="line"><a name="l00574"></a><span class="lineno"> 574</span> }</div>
+<div class="line"><a name="l00575"></a><span class="lineno"> 575</span> <span class="keywordtype">void</span> tos_supervoxels::set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in)</div>
+<div class="line"><a name="l00576"></a><span class="lineno"> 576</span> {</div>
+<div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a> = spatial_importance_in;</div>
+<div class="line"><a name="l00578"></a><span class="lineno"> 578</span> }</div>
+<div class="line"><a name="l00579"></a><span class="lineno"> 579</span> <span class="keywordtype">void</span> tos_supervoxels::set_normal_importance(<span class="keywordtype">double</span> normal_importance_in)</div>
+<div class="line"><a name="l00580"></a><span class="lineno"> 580</span> {</div>
+<div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a> = normal_importance_in;</div>
+<div class="line"><a name="l00582"></a><span class="lineno"> 582</span> }</div>
+<div class="line"><a name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">void</span> tos_supervoxels::set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in)</div>
+<div class="line"><a name="l00584"></a><span class="lineno"> 584</span> {</div>
+<div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a> = concavity_tolerance_threshold_in;</div>
+<div class="line"><a name="l00586"></a><span class="lineno"> 586</span> }</div>
+<div class="line"><a name="l00587"></a><span class="lineno"> 587</span> <span class="keywordtype">void</span> tos_supervoxels::set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in)</div>
+<div class="line"><a name="l00588"></a><span class="lineno"> 588</span> {</div>
+<div class="line"><a name="l00589"></a><span class="lineno"> 589</span>  this-><a class="code" href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">smoothness_threshold</a> = smoothness_threshold_in;</div>
+<div class="line"><a name="l00590"></a><span class="lineno"> 590</span> }</div>
+<div class="line"><a name="l00591"></a><span class="lineno"> 591</span> <span class="keywordtype">void</span> tos_supervoxels::set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in)</div>
+<div class="line"><a name="l00592"></a><span class="lineno"> 592</span> {</div>
+<div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  this-><a class="code" href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">min_segment_size</a> = min_segment_size_in;</div>
+<div class="line"><a name="l00594"></a><span class="lineno"> 594</span> }</div>
+<div class="line"><a name="l00595"></a><span class="lineno"> 595</span> <span class="keywordtype">void</span> tos_supervoxels::set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in)</div>
+<div class="line"><a name="l00596"></a><span class="lineno"> 596</span> {</div>
+<div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a> = use_extended_convexity_in;</div>
+<div class="line"><a name="l00598"></a><span class="lineno"> 598</span> }</div>
+<div class="line"><a name="l00599"></a><span class="lineno"> 599</span> <span class="keywordtype">void</span> tos_supervoxels::set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in)</div>
+<div class="line"><a name="l00600"></a><span class="lineno"> 600</span> {</div>
+<div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a> = use_sanity_criterion_in;</div>
+<div class="line"><a name="l00602"></a><span class="lineno"> 602</span> }</div>
+<div class="line"><a name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">void</span> tos_supervoxels::set_zmin(<span class="keywordtype">double</span> zmin_in)</div>
+<div class="line"><a name="l00604"></a><span class="lineno"> 604</span> {</div>
+<div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a> = zmin_in;</div>
+<div class="line"><a name="l00606"></a><span class="lineno"> 606</span> }</div>
+<div class="line"><a name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">void</span> tos_supervoxels::set_zmax(<span class="keywordtype">double</span> zmax_in)</div>
+<div class="line"><a name="l00608"></a><span class="lineno"> 608</span> {</div>
+<div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a> = zmax_in;</div>
+<div class="line"><a name="l00610"></a><span class="lineno"> 610</span> }</div>
+<div class="line"><a name="l00611"></a><span class="lineno"> 611</span> <span class="keywordtype">void</span> tos_supervoxels::set_th_points(<span class="keywordtype">int</span> th_points_in)</div>
+<div class="line"><a name="l00612"></a><span class="lineno"> 612</span> {</div>
+<div class="line"><a name="l00613"></a><span class="lineno"> 613</span>  this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a> = th_points_in;</div>
+<div class="line"><a name="l00614"></a><span class="lineno"> 614</span> }</div>
+<div class="line"><a name="l00615"></a><span class="lineno"> 615</span> <span class="keywordtype">bool</span> tos_supervoxels::get_disable_transform()</div>
+<div class="line"><a name="l00616"></a><span class="lineno"> 616</span> {</div>
+<div class="line"><a name="l00617"></a><span class="lineno"> 617</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">disable_transform</a>;</div>
+<div class="line"><a name="l00618"></a><span class="lineno"> 618</span> }</div>
+<div class="line"><a name="l00619"></a><span class="lineno"> 619</span> <span class="keywordtype">double</span> tos_supervoxels::get_voxel_resolution()</div>
+<div class="line"><a name="l00620"></a><span class="lineno"> 620</span> {</div>
+<div class="line"><a name="l00621"></a><span class="lineno"> 621</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">voxel_resolution</a>;</div>
+<div class="line"><a name="l00622"></a><span class="lineno"> 622</span> }</div>
+<div class="line"><a name="l00623"></a><span class="lineno"> 623</span> <span class="keywordtype">double</span> tos_supervoxels::get_seed_resolution()</div>
+<div class="line"><a name="l00624"></a><span class="lineno"> 624</span> {</div>
+<div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">seed_resolution</a>;</div>
+<div class="line"><a name="l00626"></a><span class="lineno"> 626</span> }</div>
+<div class="line"><a name="l00627"></a><span class="lineno"> 627</span> <span class="keywordtype">double</span> tos_supervoxels::get_color_importance()</div>
+<div class="line"><a name="l00628"></a><span class="lineno"> 628</span> {</div>
+<div class="line"><a name="l00629"></a><span class="lineno"> 629</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">color_importance</a>;</div>
+<div class="line"><a name="l00630"></a><span class="lineno"> 630</span> }</div>
+<div class="line"><a name="l00631"></a><span class="lineno"> 631</span> <span class="keywordtype">double</span> tos_supervoxels::get_spatial_importance()</div>
+<div class="line"><a name="l00632"></a><span class="lineno"> 632</span> {</div>
+<div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">spatial_importance</a>;</div>
+<div class="line"><a name="l00634"></a><span class="lineno"> 634</span> }</div>
+<div class="line"><a name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">double</span> tos_supervoxels::get_normal_importance()</div>
+<div class="line"><a name="l00636"></a><span class="lineno"> 636</span> {</div>
+<div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">normal_importance</a>;</div>
+<div class="line"><a name="l00638"></a><span class="lineno"> 638</span> }</div>
+<div class="line"><a name="l00639"></a><span class="lineno"> 639</span> <span class="keywordtype">double</span> tos_supervoxels::get_concavity_tolerance_threshold()</div>
+<div class="line"><a name="l00640"></a><span class="lineno"> 640</span> {</div>
+<div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">concavity_tolerance_threshold</a>;</div>
+<div class="line"><a name="l00642"></a><span class="lineno"> 642</span> }</div>
+<div class="line"><a name="l00643"></a><span class="lineno"> 643</span> <span class="keywordtype">double</span> tos_supervoxels::tos_supervoxels::tos_supervoxels::get_smoothness_threshold()</div>
+<div class="line"><a name="l00644"></a><span class="lineno"> 644</span> {</div>
+<div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  <span class="keywordflow">return</span> this->smoothness_threshold;</div>
+<div class="line"><a name="l00646"></a><span class="lineno"> 646</span> }</div>
+<div class="line"><a name="l00647"></a><span class="lineno"> 647</span> <span class="keywordtype">int</span> tos_supervoxels::tos_supervoxels::get_min_segment_size()</div>
+<div class="line"><a name="l00648"></a><span class="lineno"> 648</span> {</div>
+<div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  <span class="keywordflow">return</span> this->min_segment_size;</div>
+<div class="line"><a name="l00650"></a><span class="lineno"> 650</span> }</div>
+<div class="line"><a name="l00651"></a><span class="lineno"> 651</span> <span class="keywordtype">bool</span> tos_supervoxels::get_use_extended_convexity()</div>
+<div class="line"><a name="l00652"></a><span class="lineno"> 652</span> {</div>
+<div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">use_extended_convexity</a>;</div>
+<div class="line"><a name="l00654"></a><span class="lineno"> 654</span> }</div>
+<div class="line"><a name="l00655"></a><span class="lineno"> 655</span> <span class="keywordtype">bool</span> tos_supervoxels::get_use_sanity_criterion()</div>
+<div class="line"><a name="l00656"></a><span class="lineno"> 656</span> {</div>
+<div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">use_sanity_criterion</a>;</div>
+<div class="line"><a name="l00658"></a><span class="lineno"> 658</span> }</div>
+<div class="line"><a name="l00659"></a><span class="lineno"> 659</span> <span class="keywordtype">double</span> tos_supervoxels::get_zmin()</div>
+<div class="line"><a name="l00660"></a><span class="lineno"> 660</span> {</div>
+<div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">zmin</a>;</div>
+<div class="line"><a name="l00662"></a><span class="lineno"> 662</span> }</div>
+<div class="line"><a name="l00663"></a><span class="lineno"> 663</span> <span class="keywordtype">double</span> tos_supervoxels::get_zmax()</div>
+<div class="line"><a name="l00664"></a><span class="lineno"> 664</span> {</div>
+<div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">zmax</a>;</div>
+<div class="line"><a name="l00666"></a><span class="lineno"> 666</span> }</div>
+<div class="line"><a name="l00667"></a><span class="lineno"> 667</span> <span class="keywordtype">int</span> tos_supervoxels::get_th_points()</div>
+<div class="line"><a name="l00668"></a><span class="lineno"> 668</span> {</div>
+<div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">th_points</a>;</div>
+<div class="line"><a name="l00670"></a><span class="lineno"> 670</span> }</div>
+<div class="line"><a name="l00671"></a><span class="lineno"> 671</span> pcl::ModelCoefficients tos_supervoxels::get_plane_coefficients()</div>
+<div class="line"><a name="l00672"></a><span class="lineno"> 672</span> {</div>
+<div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  <span class="keywordflow">return</span> this-><a class="code" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">plane_coefficients</a>;</div>
+<div class="line"><a name="l00674"></a><span class="lineno"> 674</span> }</div>
<div class="ttc" id="classtos__supervoxels__parameters_html_ab0132cd89f636627d3bb5d1cc81de339"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab0132cd89f636627d3bb5d1cc81de339">tos_supervoxels_parameters::~tos_supervoxels_parameters</a></div><div class="ttdeci">~tos_supervoxels_parameters()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00026">tos_supervoxels.cpp:26</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_aed4c61f0f00941a8100c532cf635c41a"><div class="ttname"><a href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">tos_supervoxels::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00191">tos_supervoxels.h:191</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00088">tos_supervoxels.h:88</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_acc734faa611ebe574cb2aeb8222585c4"><div class="ttname"><a href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00094">tos_supervoxels.cpp:94</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a65f837c473fe6c5b4a1b928b73fe22ec"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">tos_supervoxels_parameters::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00061">tos_supervoxels.h:61</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a43917a91ecbe54aaffe0060e2b3c2120"><div class="ttname"><a href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZL > get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00526">tos_supervoxels.cpp:526</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a72001c37a946b8fcfcc0728436e55806"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00059">tos_supervoxels.h:59</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_acc734faa611ebe574cb2aeb8222585c4"><div class="ttname"><a href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00097">tos_supervoxels.cpp:97</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a6543bae4355bbd4120851067e876e8ef"><div class="ttname"><a href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels::segment</a></div><div class="ttdeci">bool segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00242">tos_supervoxels.cpp:242</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a65f837c473fe6c5b4a1b928b73fe22ec"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">tos_supervoxels_parameters::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00058">tos_supervoxels.h:58</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a43917a91ecbe54aaffe0060e2b3c2120"><div class="ttname"><a href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZL > get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00539">tos_supervoxels.cpp:539</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a72001c37a946b8fcfcc0728436e55806"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00056">tos_supervoxels.h:56</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00071">tos_supervoxels.h:71</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a96dbf73673068c89b3e7f248e19ea934"><div class="ttname"><a href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">tos_supervoxels::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00184">tos_supervoxels.h:184</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a12d9871a570ede7c63771a6574ba29a0"><div class="ttname"><a href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGBA >::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00521">tos_supervoxels.cpp:521</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a749d926a09c9543be3d09516b780e445"><div class="ttname"><a href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">tos_supervoxels::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00143">tos_supervoxels.h:143</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00436">tos_supervoxels.cpp:436</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a90e7d8f4452a40fe3d3a24ac734481da"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00060">tos_supervoxels.h:60</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a839bc1bb944a6194cbe6b939b87509dc"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">tos_supervoxels_parameters::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00068">tos_supervoxels.h:68</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a43ea0ab047c7944ef293c0e762b4111a"><div class="ttname"><a href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">tos_supervoxels::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00142">tos_supervoxels.h:142</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ae99864a38f7abfb490ff3d452addf9af"><div class="ttname"><a href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointNormal > get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00541">tos_supervoxels.cpp:541</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00353">tos_supervoxels.cpp:353</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a84b7ffaae94c393530f065b6dbe9e818"><div class="ttname"><a href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00148">tos_supervoxels.h:148</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00084">tos_supervoxels.h:84</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00090">tos_supervoxels.h:90</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a12d9871a570ede7c63771a6574ba29a0"><div class="ttname"><a href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGBA >::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00534">tos_supervoxels.cpp:534</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a749d926a09c9543be3d09516b780e445"><div class="ttname"><a href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">tos_supervoxels::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00140">tos_supervoxels.h:140</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00449">tos_supervoxels.cpp:449</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a90e7d8f4452a40fe3d3a24ac734481da"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00057">tos_supervoxels.h:57</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00070">tos_supervoxels.h:70</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a839bc1bb944a6194cbe6b939b87509dc"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">tos_supervoxels_parameters::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00065">tos_supervoxels.h:65</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a43ea0ab047c7944ef293c0e762b4111a"><div class="ttname"><a href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">tos_supervoxels::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00139">tos_supervoxels.h:139</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae99864a38f7abfb490ff3d452addf9af"><div class="ttname"><a href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointNormal > get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00554">tos_supervoxels.cpp:554</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00366">tos_supervoxels.cpp:366</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a84b7ffaae94c393530f065b6dbe9e818"><div class="ttname"><a href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00145">tos_supervoxels.h:145</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae54647f05bc9cbb541b95d23d32cab6b"><div class="ttname"><a href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">tos_supervoxels::plane_coefficients</a></div><div class="ttdeci">pcl::ModelCoefficients plane_coefficients</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00157">tos_supervoxels.h:157</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00087">tos_supervoxels.h:87</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_abdd417b1ed4102a5655118d849138484"><div class="ttname"><a href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00197">tos_supervoxels.h:197</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00481">tos_supervoxels.cpp:481</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aee04463d10de7b08e4b4bdf5634ac3ae"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">tos_supervoxels_parameters::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00052">tos_supervoxels.h:52</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00494">tos_supervoxels.cpp:494</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aee04463d10de7b08e4b4bdf5634ac3ae"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">tos_supervoxels_parameters::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00049">tos_supervoxels.h:49</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a1b6c5ff3f4e6b18cf059af26787aa609"><div class="ttname"><a href="classtos__supervoxels.html#a1b6c5ff3f4e6b18cf059af26787aa609">tos_supervoxels::~tos_supervoxels</a></div><div class="ttdeci">~tos_supervoxels()</div><div class="ttdoc">class destructor </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00036">tos_supervoxels.cpp:36</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_aca7419baf464d01abca1bdbf4bea0c5d"><div class="ttname"><a href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">tos_supervoxels::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00186">tos_supervoxels.h:186</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a0662491cb89776e0f8ff76753bb24840"><div class="ttname"><a href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">tos_supervoxels::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00181">tos_supervoxels.h:181</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00498">tos_supervoxels.cpp:498</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00511">tos_supervoxels.cpp:511</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a527522f124f4717a1196b502f7cb8ffe"><div class="ttname"><a href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">tos_supervoxels::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00189">tos_supervoxels.h:189</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00046">tos_supervoxels.h:46</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a9f95373c358aae383050081be0144aee"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00054">tos_supervoxels.h:54</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a8a6ed871f5bed0045d4d5009ac4ba908"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00062">tos_supervoxels.h:62</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a1aa263f14c3322d5aaedc123cd1e2b89"><div class="ttname"><a href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels.cpp:212</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ac3bc6b70b506f7e97615c16521cd04cc"><div class="ttname"><a href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">tos_supervoxels::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00140">tos_supervoxels.h:140</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a9ae35d7f443adcff4aed9dff59b354df"><div class="ttname"><a href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">tos_supervoxels::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00132">tos_supervoxels.h:132</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a736ccbb937f187a9e0886b8a565e6412"><div class="ttname"><a href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">tos_supervoxels::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00134">tos_supervoxels.h:134</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00058">tos_supervoxels.cpp:58</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa41b80f3d1392f92fe81affe0c1b4dd1"><div class="ttname"><a href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a></div><div class="ttdeci">std::map< uint32_t, pcl::Supervoxel< pcl::PointXYZRGBA >::Ptr > get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00536">tos_supervoxels.cpp:536</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00043">tos_supervoxels.h:43</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a9f95373c358aae383050081be0144aee"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00051">tos_supervoxels.h:51</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a8a6ed871f5bed0045d4d5009ac4ba908"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00059">tos_supervoxels.h:59</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a1aa263f14c3322d5aaedc123cd1e2b89"><div class="ttname"><a href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels.cpp:214</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ac3bc6b70b506f7e97615c16521cd04cc"><div class="ttname"><a href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">tos_supervoxels::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00137">tos_supervoxels.h:137</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a9ae35d7f443adcff4aed9dff59b354df"><div class="ttname"><a href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">tos_supervoxels::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00129">tos_supervoxels.h:129</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a736ccbb937f187a9e0886b8a565e6412"><div class="ttname"><a href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">tos_supervoxels::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00131">tos_supervoxels.h:131</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the public members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00061">tos_supervoxels.cpp:61</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa41b80f3d1392f92fe81affe0c1b4dd1"><div class="ttname"><a href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a></div><div class="ttdeci">std::map< uint32_t, pcl::Supervoxel< pcl::PointXYZRGBA >::Ptr > get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00549">tos_supervoxels.cpp:549</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a976704822ba4713a07bf66a09029ae90"><div class="ttname"><a href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">tos_supervoxels::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00182">tos_supervoxels.h:182</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a5be032e015d335e2efd1fa6dad645ea2"><div class="ttname"><a href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">tos_supervoxels::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00198">tos_supervoxels.h:198</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a1c7303ad40e0a46d39f9cc32d44b7a5b"><div class="ttname"><a href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">tos_supervoxels::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00183">tos_supervoxels.h:183</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aedda6ac8b4ed4d73db916e5faf6085e7"><div class="ttname"><a href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &supervoxel_center, pcl::PointCloud< pcl::PointXYZRGBA > &adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00121">tos_supervoxels.cpp:121</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8652ee2830cb37f6b4b0e0b8456076f3"><div class="ttname"><a href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">tos_supervoxels::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00137">tos_supervoxels.h:137</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ac49ae5d232a0d12110f1cc804008c376"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00066">tos_supervoxels.h:66</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00076">tos_supervoxels.h:76</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa98f5fdb5a742faf47660fec6d65ca7f"><div class="ttname"><a href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00240">tos_supervoxels.cpp:240</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aedda6ac8b4ed4d73db916e5faf6085e7"><div class="ttname"><a href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &supervoxel_center, pcl::PointCloud< pcl::PointXYZRGBA > &adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00124">tos_supervoxels.cpp:124</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8652ee2830cb37f6b4b0e0b8456076f3"><div class="ttname"><a href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">tos_supervoxels::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00134">tos_supervoxels.h:134</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ac49ae5d232a0d12110f1cc804008c376"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00063">tos_supervoxels.h:63</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_adcf6aa7cff672a17aa8a8c82dc4f3df9"><div class="ttname"><a href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">tos_supervoxels::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00190">tos_supervoxels.h:190</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a42658ce54347c61ad68363f4bcb98b6e"><div class="ttname"><a href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00141">tos_supervoxels.h:141</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a577fb6e267ef31b4b1f79f6bceeeba67"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">tos_supervoxels_parameters::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00051">tos_supervoxels.h:51</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa4f64e40e770a4f04693f9437f4976d4"><div class="ttname"><a href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00136">tos_supervoxels.h:136</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8abdeeb9ba62c3c1391a8e4199126695"><div class="ttname"><a href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a></div><div class="ttdeci">void set_parameters(tos_supervoxels_parameters &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="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels.cpp:70</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a086b59d77879d7987ea97005b180a49f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00053">tos_supervoxels.h:53</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa4ab98eb4f5bf656a74fbfb43e3c1843"><div class="ttname"><a href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap< uint32_t, uint32_t > get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00531">tos_supervoxels.cpp:531</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a42658ce54347c61ad68363f4bcb98b6e"><div class="ttname"><a href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00138">tos_supervoxels.h:138</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a577fb6e267ef31b4b1f79f6bceeeba67"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">tos_supervoxels_parameters::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00048">tos_supervoxels.h:48</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa4f64e40e770a4f04693f9437f4976d4"><div class="ttname"><a href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00133">tos_supervoxels.h:133</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8abdeeb9ba62c3c1391a8e4199126695"><div class="ttname"><a href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a></div><div class="ttdeci">void set_parameters(tos_supervoxels_parameters &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="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels.cpp:73</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a086b59d77879d7987ea97005b180a49f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00050">tos_supervoxels.h:50</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa4ab98eb4f5bf656a74fbfb43e3c1843"><div class="ttname"><a href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap< uint32_t, uint32_t > get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00544">tos_supervoxels.cpp:544</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a72c296d6d619cb81aac94957dbff1bdb"><div class="ttname"><a href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00193">tos_supervoxels.h:193</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a49f096545d2239dea0936096b892f583"><div class="ttname"><a href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">tos_supervoxels::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00196">tos_supervoxels.h:196</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
<div class="ttc" id="classtos__supervoxels__parameters_html_a645ba622d2f0a707e3efdb061a7e5701"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a645ba622d2f0a707e3efdb061a7e5701">tos_supervoxels_parameters::tos_supervoxels_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters()</div><div class="ttdoc">Constructor Sets all the parameters to a default value. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels.cpp:4</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00077">tos_supervoxels.h:77</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ae2ecf4fef5f0f963a8c60d877b45afa1"><div class="ttname"><a href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">tos_supervoxels::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00144">tos_supervoxels.h:144</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae2ecf4fef5f0f963a8c60d877b45afa1"><div class="ttname"><a href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">tos_supervoxels::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00141">tos_supervoxels.h:141</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a8e05551a5406f85d3aa97ce50235ef8a"><div class="ttname"><a href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a></div><div class="ttdeci">void init(pcl::PointCloud< pcl::PointXYZRGBA > input_cloud, tos_supervoxels_parameters &opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00041">tos_supervoxels.cpp:41</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00079">tos_supervoxels.h:79</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a34c1b5941d7ff929e2f356c0751bd9f0"><div class="ttname"><a href="classtos__supervoxels.html#a34c1b5941d7ff929e2f356c0751bd9f0">tos_supervoxels::tos_supervoxels</a></div><div class="ttdeci">tos_supervoxels()</div><div class="ttdoc">Class costructor. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00031">tos_supervoxels.cpp:31</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00083">tos_supervoxels.h:83</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00080">tos_supervoxels.h:80</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a8b884facceaccc4e019e852f2ec51280"><div class="ttname"><a href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">tos_supervoxels::initialized</a></div><div class="ttdeci">bool initialized</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00201">tos_supervoxels.h:201</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a7eb9f9d72fe72e24078496f0d8bfcc1a"><div class="ttname"><a href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud< pcl::PointXYZRGBA >::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="tos__supervoxels_8cpp_source.html#l00150">tos_supervoxels.cpp:150</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab654ad8e92e68a70f40a5dda9e11d83b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">tos_supervoxels_parameters::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00056">tos_supervoxels.h:56</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a060b8b3f544152ee2f5266c1f4cef012"><div class="ttname"><a href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">tos_supervoxels::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00133">tos_supervoxels.h:133</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8199c1eb6e5a493fe56f4eb1c5ffe0c4"><div class="ttname"><a href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">tos_supervoxels::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00135">tos_supervoxels.h:135</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ab190977726c84292dad40f4337ec6ba9"><div class="ttname"><a href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGBA > > 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="tos__supervoxels_8cpp_source.html#l00486">tos_supervoxels.cpp:486</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a7eb9f9d72fe72e24078496f0d8bfcc1a"><div class="ttname"><a href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud< pcl::PointXYZRGBA >::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="tos__supervoxels_8cpp_source.html#l00153">tos_supervoxels.cpp:153</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab654ad8e92e68a70f40a5dda9e11d83b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">tos_supervoxels_parameters::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00053">tos_supervoxels.h:53</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a060b8b3f544152ee2f5266c1f4cef012"><div class="ttname"><a href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">tos_supervoxels::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00130">tos_supervoxels.h:130</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8199c1eb6e5a493fe56f4eb1c5ffe0c4"><div class="ttname"><a href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">tos_supervoxels::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00132">tos_supervoxels.h:132</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ab190977726c84292dad40f4337ec6ba9"><div class="ttname"><a href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGBA > > 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="tos__supervoxels_8cpp_source.html#l00499">tos_supervoxels.cpp:499</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a43ea7c15095e046b55674b120eb096f0"><div class="ttname"><a href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">tos_supervoxels::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00192">tos_supervoxels.h:192</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a488f2d8af0e9e5adf5a7268829dd1e4b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00089">tos_supervoxels.h:89</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00462">tos_supervoxels.cpp:462</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab824cdae92c7bed3d3013e0b5fc16938"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00055">tos_supervoxels.h:55</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab75a5338a5e95cee71573beeca040962"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00063">tos_supervoxels.h:63</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a488f2d8af0e9e5adf5a7268829dd1e4b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00086">tos_supervoxels.h:86</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00475">tos_supervoxels.cpp:475</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00072">tos_supervoxels.h:72</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab824cdae92c7bed3d3013e0b5fc16938"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00052">tos_supervoxels.h:52</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab75a5338a5e95cee71573beeca040962"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00060">tos_supervoxels.h:60</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a22dedb407830be7e35edcc98a84831d5"><div class="ttname"><a href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">tos_supervoxels::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00185">tos_supervoxels.h:185</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aff21e5b5ee671a64b72e2a5bef109db2"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00067">tos_supervoxels.h:67</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aebfec7e745537e12d087ec3fb2cfb091"><div class="ttname"><a href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">tos_supervoxels::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00147">tos_supervoxels.h:147</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a13fc3e3a65e0888ec8cb4523d6c9e2cc"><div class="ttname"><a href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">tos_supervoxels::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00149">tos_supervoxels.h:149</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aff21e5b5ee671a64b72e2a5bef109db2"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00064">tos_supervoxels.h:64</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aebfec7e745537e12d087ec3fb2cfb091"><div class="ttname"><a href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">tos_supervoxels::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00144">tos_supervoxels.h:144</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a13fc3e3a65e0888ec8cb4523d6c9e2cc"><div class="ttname"><a href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">tos_supervoxels::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00146">tos_supervoxels.h:146</a></div></div>
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diff --git a/trunk/doc/html/tos__supervoxels_8h_source.html b/trunk/doc/html/tos__supervoxels_8h_source.html
index e1ecaf395bf56432031919ae253b00ce89eb9ab0..585eaf7cb89333984e74c3dda8448b1111090555 100644
--- a/trunk/doc/html/tos__supervoxels_8h_source.html
+++ b/trunk/doc/html/tos__supervoxels_8h_source.html
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<meta name="generator" content="Doxygen 1.8.6"/>
-<title>tos_supervoxels: /home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/tos_supervoxels.h Source File</title>
+<title>tos_supervoxels: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/tos_supervoxels.h Source File</title>
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@@ -68,104 +68,102 @@
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <pcl/segmentation/lccp_segmentation.h></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <vtkPolyLine.h></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div>
-<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <pcl/sample_consensus/method_types.h></span></div>
-<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <pcl/sample_consensus/model_types.h></span></div>
-<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <pcl/segmentation/sac_segmentation.h></span></div>
-<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <pcl/filters/extract_indices.h></span></div>
-<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <pcl/surface/convex_hull.h></span></div>
-<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <pcl/segmentation/extract_polygonal_prism_data.h></span></div>
-<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
-<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">typedef</span> pcl::LCCPSegmentation<pcl::PointXYZRGBA>::SupervoxelAdjacencyList SuperVoxelAdjacencyList;</div>
-<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div>
-<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#ifndef OBJECT</span></div>
-<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor"></span><span class="preprocessor">#define OBJECT </span></div>
-<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor"></span></div>
-<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structObject.html"> 35</a></span> <span class="keyword">struct </span><a class="code" href="structObject.html">Object</a></div>
-<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> {</div>
-<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  pcl::PointCloud<pcl::PointXYZRGBA> object_cloud;</div>
-<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d"> 38</a></span>  <span class="keywordtype">int</span> <a class="code" href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d">label</a>; </div>
-<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> };</div>
-<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#endif</span></div>
-<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor"></span></div>
-<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html"> 46</a></span> <span class="keyword">class </span><a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div>
-<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> {</div>
-<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">protected</span>:</div>
-<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="comment">// -------- Default Parameters --------</span></div>
-<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="comment">// supervoxels parameters </span></div>
-<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67"> 51</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">DISABLE_TRANSFORM</a> = <span class="keyword">true</span>; </div>
-<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae"> 52</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">VOXEL_RESOLUTION</a> = 0.0075f;</div>
-<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f"> 53</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">SEED_RESOLUTION</a> = 0.03f; </div>
-<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee"> 54</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">COLOR_IMPORTANCE</a> = 0.0f;</div>
-<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938"> 55</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">SPATIAL_IMPORTANCE</a> = 1.0f;</div>
-<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b"> 56</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">NORMAL_IMPORTANCE</a> = 4.0f;</div>
-<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
-<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806"> 59</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">CONCAVITY_TOLERANCE_THRESHOLD</a> = 10;</div>
-<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da"> 60</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">SMOOTHNESS_THRESHOLD</a> = 0.1f;</div>
-<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec"> 61</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">MIN_SEGMENT_SIZE</a> = 3;</div>
-<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908"> 62</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">USE_EXTENDED_CONVEXITY</a> = <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962"> 63</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">USE_SANITY_CRITERION</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="comment">// Others parameters</span></div>
-<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376"> 66</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">ZMIN</a> = 0.02;</div>
-<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2"> 67</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">ZMAX</a> = 2.; </div>
-<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc"> 68</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">TH_POINTS</a> = 400; </div>
-<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">//-------------------</span></div>
-<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div>
-<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">public</span>:</div>
-<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">//supervoxels parameters </span></div>
-<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625"> 73</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a>;</div>
-<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b"> 74</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a>; </div>
-<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382"> 75</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a>; </div>
-<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b"> 76</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a>;</div>
-<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff"> 77</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a>;</div>
-<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0"> 78</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a>;</div>
-<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
-<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047"> 81</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a>;</div>
-<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6"> 82</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a>;</div>
-<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42"> 83</a></span>  <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a>;</div>
-<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50"> 84</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a>;</div>
-<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614"> 85</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a>;</div>
-<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="comment">// other parameters </span></div>
-<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d"> 88</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a>; </div>
-<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b"> 89</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a>; </div>
-<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f"> 90</a></span>  <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a>; </div>
-<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <a class="code" href="classtos__supervoxels__parameters.html#a645ba622d2f0a707e3efdb061a7e5701">tos_supervoxels_parameters</a>();</div>
-<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div>
-<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="classtos__supervoxels__parameters.html#ab0132cd89f636627d3bb5d1cc81de339">~tos_supervoxels_parameters</a>();</div>
-<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div>
-<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> }; </div>
-<div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div>
-<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html"> 126</a></span> <span class="keyword">class </span><a class="code" href="classtos__supervoxels.html">tos_supervoxels</a></div>
-<div class="line"><a name="l00127"></a><span class="lineno"> 127</span> {</div>
-<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">protected</span>:</div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">// -------- Default Parameters --------</span></div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">// supervoxels parameters </span></div>
-<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df"> 132</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a> = <span class="keyword">true</span>; </div>
-<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012"> 133</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a> = 0.0075f;</div>
-<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412"> 134</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a> = 0.03f; </div>
-<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4"> 135</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a> = 0.0f;</div>
-<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4"> 136</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a> = 1.0f;</div>
-<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3"> 137</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a> = 4.0f;</div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
-<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc"> 140</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a> = 10;</div>
-<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e"> 141</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a> = 0.1f;</div>
-<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a"> 142</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a> = 3;</div>
-<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445"> 143</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a> = <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1"> 144</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="comment">// Others parameters</span></div>
-<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091"> 147</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a> = 0.02;</div>
-<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818"> 148</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a> = 2.; </div>
-<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc"> 149</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a> = 400; </div>
-<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="comment">//-------------------</span></div>
-<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> </div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  std::vector<Object> detected_objects;</div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;</div>
-<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud;</div>
-<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  std::multimap<uint32_t, uint32_t> supervoxel_adjacency;</div>
-<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_voxel_cloud;</div>
-<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr > supervoxel_clusters;</div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  pcl::PointCloud<pcl::PointNormal>::Ptr sv_normal_cloud;</div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> </div>
+<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <pcl/filters/extract_indices.h></span></div>
+<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <pcl/surface/convex_hull.h></span></div>
+<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <pcl/segmentation/extract_polygonal_prism_data.h></span></div>
+<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> </div>
+<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">typedef</span> pcl::LCCPSegmentation<pcl::PointXYZRGBA>::SupervoxelAdjacencyList SuperVoxelAdjacencyList;</div>
+<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div>
+<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#ifndef OBJECT</span></div>
+<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor"></span><span class="preprocessor">#define OBJECT </span></div>
+<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"></span></div>
+<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structObject.html"> 32</a></span> <span class="keyword">struct </span><a class="code" href="structObject.html">Object</a></div>
+<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div>
+<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  pcl::PointCloud<pcl::PointXYZRGBA> object_cloud;</div>
+<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d"> 35</a></span>  <span class="keywordtype">int</span> <a class="code" href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d">label</a>; </div>
+<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> };</div>
+<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#endif</span></div>
+<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor"></span></div>
+<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html"> 43</a></span> <span class="keyword">class </span><a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div>
+<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> {</div>
+<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="comment">// -------- Default Parameters --------</span></div>
+<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="comment">// supervoxels parameters </span></div>
+<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67"> 48</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">DISABLE_TRANSFORM</a> = <span class="keyword">true</span>; </div>
+<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae"> 49</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">VOXEL_RESOLUTION</a> = 0.0075f;</div>
+<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f"> 50</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">SEED_RESOLUTION</a> = 0.03f; </div>
+<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee"> 51</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">COLOR_IMPORTANCE</a> = 0.0f;</div>
+<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938"> 52</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">SPATIAL_IMPORTANCE</a> = 1.0f;</div>
+<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b"> 53</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">NORMAL_IMPORTANCE</a> = 4.0f;</div>
+<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
+<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806"> 56</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">CONCAVITY_TOLERANCE_THRESHOLD</a> = 10;</div>
+<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da"> 57</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">SMOOTHNESS_THRESHOLD</a> = 0.1f;</div>
+<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec"> 58</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">MIN_SEGMENT_SIZE</a> = 3;</div>
+<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908"> 59</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">USE_EXTENDED_CONVEXITY</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962"> 60</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">USE_SANITY_CRITERION</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="comment">// Others parameters</span></div>
+<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376"> 63</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">ZMIN</a> = 0.02;</div>
+<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2"> 64</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">ZMAX</a> = 2.; </div>
+<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc"> 65</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">TH_POINTS</a> = 400; </div>
+<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="comment">//-------------------</span></div>
+<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div>
+<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">public</span>:</div>
+<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">//supervoxels parameters </span></div>
+<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625"> 70</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">disable_transform</a>;</div>
+<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b"> 71</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">voxel_resolution</a>; </div>
+<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382"> 72</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">seed_resolution</a>; </div>
+<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b"> 73</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">color_importance</a>;</div>
+<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff"> 74</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">spatial_importance</a>;</div>
+<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0"> 75</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">normal_importance</a>;</div>
+<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
+<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047"> 78</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">concavity_tolerance_threshold</a>;</div>
+<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6"> 79</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">smoothness_threshold</a>;</div>
+<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42"> 80</a></span>  <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">min_segment_size</a>;</div>
+<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50"> 81</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">use_extended_convexity</a>;</div>
+<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614"> 82</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">use_sanity_criterion</a>;</div>
+<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// other parameters </span></div>
+<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d"> 85</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">zmin</a>; </div>
+<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b"> 86</a></span>  <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">zmax</a>; </div>
+<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f"> 87</a></span>  <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">th_points</a>; </div>
+<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="classtos__supervoxels__parameters.html#a645ba622d2f0a707e3efdb061a7e5701">tos_supervoxels_parameters</a>();</div>
+<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> </div>
+<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="classtos__supervoxels__parameters.html#ab0132cd89f636627d3bb5d1cc81de339">~tos_supervoxels_parameters</a>();</div>
+<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
+<div class="line"><a name="l00099"></a><span class="lineno"> 99</span> }; </div>
+<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
+<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html"> 123</a></span> <span class="keyword">class </span><a class="code" href="classtos__supervoxels.html">tos_supervoxels</a></div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> {</div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">protected</span>:</div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="comment">// -------- Default Parameters --------</span></div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">// supervoxels parameters </span></div>
+<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df"> 129</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">DISABLE_TRANSFORM</a> = <span class="keyword">true</span>; </div>
+<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012"> 130</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">VOXEL_RESOLUTION</a> = 0.0075f;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412"> 131</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">SEED_RESOLUTION</a> = 0.03f; </div>
+<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4"> 132</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">COLOR_IMPORTANCE</a> = 0.0f;</div>
+<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4"> 133</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">SPATIAL_IMPORTANCE</a> = 1.0f;</div>
+<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3"> 134</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">NORMAL_IMPORTANCE</a> = 4.0f;</div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="comment">// LCCPSegmentation parameters</span></div>
+<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc"> 137</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">CONCAVITY_TOLERANCE_THRESHOLD</a> = 10;</div>
+<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e"> 138</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">SMOOTHNESS_THRESHOLD</a> = 0.1f;</div>
+<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a"> 139</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">MIN_SEGMENT_SIZE</a> = 3;</div>
+<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445"> 140</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">USE_EXTENDED_CONVEXITY</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1"> 141</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">USE_SANITY_CRITERION</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="comment">// Others parameters</span></div>
+<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091"> 144</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">ZMIN</a> = 0.02;</div>
+<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818"> 145</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">ZMAX</a> = 2.; </div>
+<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc"> 146</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">TH_POINTS</a> = 400; </div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="comment">//-------------------</span></div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  std::vector<Object> detected_objects;</div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;</div>
+<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr lccp_labeled_cloud;</div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  std::multimap<uint32_t, uint32_t> supervoxel_adjacency;</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  pcl::PointCloud<pcl::PointXYZL>::Ptr labeled_voxel_cloud;</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr > supervoxel_clusters;</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  pcl::PointCloud<pcl::PointNormal>::Ptr sv_normal_cloud;</div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> </div>
+<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b"> 157</a></span>  pcl::ModelCoefficients <a class="code" href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">plane_coefficients</a>;</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">addSupervoxelConnectionsToViewer</a> (pcl::PointXYZRGBA &supervoxel_center,</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  pcl::PointCloud<pcl::PointXYZRGBA>& adjacent_supervoxel_centers,</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::string supervoxel_name,</div>
@@ -210,158 +208,161 @@
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span> </div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <a class="code" href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a> <a class="code" href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">get_default_parameters</a>(); </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div>
-<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">segment</a>();</div>
-<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div>
-<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer,<span class="keywordtype">bool</span> show_adjacency_map, <span class="keywordtype">bool</span> show_super_voxel_normals);</div>
-<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div>
-<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);</div>
-<div class="line"><a name="l00261"></a><span class="lineno"> 261</span> </div>
-<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">show_segmented_objects</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer); </div>
-<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div>
-<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);</div>
-<div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keywordtype">bool</span> <a class="code" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">segment</a>();</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> </div>
+<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer,<span class="keywordtype">bool</span> show_adjacency_map, <span class="keywordtype">bool</span> show_super_voxel_normals);</div>
+<div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div>
+<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);</div>
+<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> </div>
+<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">show_segmented_objects</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer); </div>
+<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> </div>
+<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer);</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> </div>
-<div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  std::vector<Object> <a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">get_segmented_objects</a>();</div>
-<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div>
-<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > <a class="code" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">get_segmented_objects_simple</a>();</div>
-<div class="line"><a name="l00282"></a><span class="lineno"> 282</span> </div>
-<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">print_parameters</a>();</div>
-<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> </div>
-<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr <a class="code" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">get_input_cloud</a>();</div>
-<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> </div>
-<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  pcl::PointCloud<pcl::PointXYZL> <a class="code" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">get_labeled_voxel_cloud</a>();</div>
-<div class="line"><a name="l00294"></a><span class="lineno"> 294</span> </div>
-<div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  std::multimap<uint32_t, uint32_t> <a class="code" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">get_supervoxel_adjacency</a>();</div>
-<div class="line"><a name="l00298"></a><span class="lineno"> 298</span> </div>
-<div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr> <a class="code" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">get_supervoxel_clusters</a>();</div>
-<div class="line"><a name="l00302"></a><span class="lineno"> 302</span> </div>
-<div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  pcl::PointCloud<pcl::PointNormal> <a class="code" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">get_sv_normal_cloud</a>();</div>
-<div class="line"><a name="l00306"></a><span class="lineno"> 306</span> </div>
-<div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  <span class="keywordtype">void</span> set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in);</div>
-<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">void</span> set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in);</div>
-<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordtype">void</span> set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in);</div>
-<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">void</span> set_color_importance(<span class="keywordtype">double</span> color_importance_in);</div>
-<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordtype">void</span> set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in);</div>
-<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">void</span> set_normal_importance(<span class="keywordtype">double</span> normal_importance_in);</div>
-<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  </div>
-<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">void</span> set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in);</div>
-<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">void</span> set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in);</div>
-<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">void</span> set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in);</div>
-<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordtype">void</span> set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in);</div>
-<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordtype">void</span> set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in);</div>
-<div class="line"><a name="l00319"></a><span class="lineno"> 319</span> </div>
-<div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keywordtype">void</span> set_zmin(<span class="keywordtype">double</span> zmin_in);</div>
-<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordtype">void</span> set_zmax(<span class="keywordtype">double</span> zmax_in);</div>
-<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordtype">void</span> set_th_points(<span class="keywordtype">int</span> th_points_in);</div>
-<div class="line"><a name="l00323"></a><span class="lineno"> 323</span> </div>
-<div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  <span class="keywordtype">bool</span> get_disable_transform();</div>
-<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordtype">double</span> get_voxel_resolution();</div>
-<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordtype">double</span> get_seed_resolution();</div>
-<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordtype">double</span> get_color_importance();</div>
-<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordtype">double</span> get_spatial_importance();</div>
-<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordtype">double</span> get_normal_importance();</div>
-<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  </div>
-<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordtype">double</span> get_concavity_tolerance_threshold();</div>
-<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordtype">double</span> get_smoothness_threshold();</div>
-<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordtype">int</span> get_min_segment_size();</div>
-<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordtype">bool</span> get_use_extended_convexity();</div>
-<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordtype">bool</span> get_use_sanity_criterion();</div>
-<div class="line"><a name="l00336"></a><span class="lineno"> 336</span> </div>
-<div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="keywordtype">double</span> get_zmin();</div>
-<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordtype">double</span> get_zmax();</div>
-<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordtype">int</span> get_th_points();</div>
-<div class="line"><a name="l00340"></a><span class="lineno"> 340</span> </div>
-<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> };</div>
-<div class="line"><a name="l00342"></a><span class="lineno"> 342</span> </div>
-<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> <span class="preprocessor">#endif </span></div>
+<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div>
+<div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  std::vector<Object> <a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">get_segmented_objects</a>();</div>
+<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div>
+<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > <a class="code" href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">get_segmented_objects_simple</a>();</div>
+<div class="line"><a name="l00283"></a><span class="lineno"> 283</span> </div>
+<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordtype">void</span> <a class="code" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">print_parameters</a>();</div>
+<div class="line"><a name="l00287"></a><span class="lineno"> 287</span> </div>
+<div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  pcl::PointCloud<pcl::PointXYZRGBA>::Ptr <a class="code" href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">get_input_cloud</a>();</div>
+<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div>
+<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  pcl::PointCloud<pcl::PointXYZL> <a class="code" href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">get_labeled_voxel_cloud</a>();</div>
+<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> </div>
+<div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  std::multimap<uint32_t, uint32_t> <a class="code" href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">get_supervoxel_adjacency</a>();</div>
+<div class="line"><a name="l00299"></a><span class="lineno"> 299</span> </div>
+<div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  std::map <uint32_t, pcl::Supervoxel<pcl::PointXYZRGBA>::Ptr> <a class="code" href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">get_supervoxel_clusters</a>();</div>
+<div class="line"><a name="l00303"></a><span class="lineno"> 303</span> </div>
+<div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  pcl::PointCloud<pcl::PointNormal> <a class="code" href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">get_sv_normal_cloud</a>();</div>
+<div class="line"><a name="l00307"></a><span class="lineno"> 307</span> </div>
+<div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="keywordtype">void</span> set_disable_transform(<span class="keywordtype">bool</span> disable_transform_in);</div>
+<div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  <span class="keywordtype">void</span> set_voxel_resolution(<span class="keywordtype">double</span> voxel_resolution_in);</div>
+<div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  <span class="keywordtype">void</span> set_seed_resolution(<span class="keywordtype">double</span> seed_resolution_in);</div>
+<div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  <span class="keywordtype">void</span> set_color_importance(<span class="keywordtype">double</span> color_importance_in);</div>
+<div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">void</span> set_spatial_importance(<span class="keywordtype">double</span> spatial_importance_in);</div>
+<div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordtype">void</span> set_normal_importance(<span class="keywordtype">double</span> normal_importance_in);</div>
+<div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div>
+<div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  <span class="keywordtype">void</span> set_concavity_tolerance_threshold(<span class="keywordtype">double</span> concavity_tolerance_threshold_in);</div>
+<div class="line"><a name="l00316"></a><span class="lineno"> 316</span>  <span class="keywordtype">void</span> set_smoothness_threshold(<span class="keywordtype">double</span> smoothness_threshold_in);</div>
+<div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="keywordtype">void</span> set_min_segment_size(<span class="keywordtype">int</span> min_segment_size_in);</div>
+<div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="keywordtype">void</span> set_use_extended_convexity(<span class="keywordtype">bool</span> use_extended_convexity_in);</div>
+<div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="keywordtype">void</span> set_use_sanity_criterion(<span class="keywordtype">bool</span> use_sanity_criterion_in);</div>
+<div class="line"><a name="l00320"></a><span class="lineno"> 320</span> </div>
+<div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keywordtype">void</span> set_zmin(<span class="keywordtype">double</span> zmin_in);</div>
+<div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keywordtype">void</span> set_zmax(<span class="keywordtype">double</span> zmax_in);</div>
+<div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keywordtype">void</span> set_th_points(<span class="keywordtype">int</span> th_points_in);</div>
+<div class="line"><a name="l00324"></a><span class="lineno"> 324</span> </div>
+<div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="keywordtype">bool</span> get_disable_transform();</div>
+<div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keywordtype">double</span> get_voxel_resolution();</div>
+<div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  <span class="keywordtype">double</span> get_seed_resolution();</div>
+<div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="keywordtype">double</span> get_color_importance();</div>
+<div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordtype">double</span> get_spatial_importance();</div>
+<div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  <span class="keywordtype">double</span> get_normal_importance();</div>
+<div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div>
+<div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  <span class="keywordtype">double</span> get_concavity_tolerance_threshold();</div>
+<div class="line"><a name="l00333"></a><span class="lineno"> 333</span>  <span class="keywordtype">double</span> get_smoothness_threshold();</div>
+<div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordtype">int</span> get_min_segment_size();</div>
+<div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordtype">bool</span> get_use_extended_convexity();</div>
+<div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <span class="keywordtype">bool</span> get_use_sanity_criterion();</div>
+<div class="line"><a name="l00337"></a><span class="lineno"> 337</span> </div>
+<div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keywordtype">double</span> get_zmin();</div>
+<div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordtype">double</span> get_zmax();</div>
+<div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordtype">int</span> get_th_points();</div>
+<div class="line"><a name="l00341"></a><span class="lineno"> 341</span> </div>
+<div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  pcl::ModelCoefficients get_plane_coefficients();</div>
+<div class="line"><a name="l00343"></a><span class="lineno"> 343</span> </div>
+<div class="line"><a name="l00344"></a><span class="lineno"> 344</span> };</div>
+<div class="line"><a name="l00345"></a><span class="lineno"> 345</span> </div>
+<div class="line"><a name="l00346"></a><span class="lineno"> 346</span> <span class="preprocessor">#endif </span></div>
<div class="ttc" id="classtos__supervoxels__parameters_html_ab0132cd89f636627d3bb5d1cc81de339"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab0132cd89f636627d3bb5d1cc81de339">tos_supervoxels_parameters::~tos_supervoxels_parameters</a></div><div class="ttdeci">~tos_supervoxels_parameters()</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00026">tos_supervoxels.cpp:26</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_aed4c61f0f00941a8100c532cf635c41a"><div class="ttname"><a href="classtos__supervoxels.html#aed4c61f0f00941a8100c532cf635c41a">tos_supervoxels::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00191">tos_supervoxels.h:191</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00088">tos_supervoxels.h:88</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_acc734faa611ebe574cb2aeb8222585c4"><div class="ttname"><a href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00094">tos_supervoxels.cpp:94</a></div></div>
-<div class="ttc" id="structObject_html_a45cf3c764fbbd9fd49fb64dd4d2c1b6d"><div class="ttname"><a href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d">Object::label</a></div><div class="ttdeci">int label</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00038">tos_supervoxels.h:38</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a65f837c473fe6c5b4a1b928b73fe22ec"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">tos_supervoxels_parameters::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00061">tos_supervoxels.h:61</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a43917a91ecbe54aaffe0060e2b3c2120"><div class="ttname"><a href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZL > get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00526">tos_supervoxels.cpp:526</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a72001c37a946b8fcfcc0728436e55806"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00059">tos_supervoxels.h:59</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_acc734faa611ebe574cb2aeb8222585c4"><div class="ttname"><a href="classtos__supervoxels.html#acc734faa611ebe574cb2aeb8222585c4">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00097">tos_supervoxels.cpp:97</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a6543bae4355bbd4120851067e876e8ef"><div class="ttname"><a href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels::segment</a></div><div class="ttdeci">bool segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00242">tos_supervoxels.cpp:242</a></div></div>
+<div class="ttc" id="structObject_html_a45cf3c764fbbd9fd49fb64dd4d2c1b6d"><div class="ttname"><a href="structObject.html#a45cf3c764fbbd9fd49fb64dd4d2c1b6d">Object::label</a></div><div class="ttdeci">int label</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00035">tos_supervoxels.h:35</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a65f837c473fe6c5b4a1b928b73fe22ec"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a65f837c473fe6c5b4a1b928b73fe22ec">tos_supervoxels_parameters::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00058">tos_supervoxels.h:58</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a43917a91ecbe54aaffe0060e2b3c2120"><div class="ttname"><a href="classtos__supervoxels.html#a43917a91ecbe54aaffe0060e2b3c2120">tos_supervoxels::get_labeled_voxel_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZL > get_labeled_voxel_cloud()</div><div class="ttdoc">returns labeld voxel cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00539">tos_supervoxels.cpp:539</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a72001c37a946b8fcfcc0728436e55806"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a72001c37a946b8fcfcc0728436e55806">tos_supervoxels_parameters::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00056">tos_supervoxels.h:56</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00071">tos_supervoxels.h:71</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a96dbf73673068c89b3e7f248e19ea934"><div class="ttname"><a href="classtos__supervoxels.html#a96dbf73673068c89b3e7f248e19ea934">tos_supervoxels::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00184">tos_supervoxels.h:184</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a12d9871a570ede7c63771a6574ba29a0"><div class="ttname"><a href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGBA >::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00521">tos_supervoxels.cpp:521</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a749d926a09c9543be3d09516b780e445"><div class="ttname"><a href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">tos_supervoxels::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00143">tos_supervoxels.h:143</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00436">tos_supervoxels.cpp:436</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a90e7d8f4452a40fe3d3a24ac734481da"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00060">tos_supervoxels.h:60</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a839bc1bb944a6194cbe6b939b87509dc"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">tos_supervoxels_parameters::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00068">tos_supervoxels.h:68</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a43ea0ab047c7944ef293c0e762b4111a"><div class="ttname"><a href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">tos_supervoxels::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00142">tos_supervoxels.h:142</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ae99864a38f7abfb490ff3d452addf9af"><div class="ttname"><a href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointNormal > get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00541">tos_supervoxels.cpp:541</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00353">tos_supervoxels.cpp:353</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a84b7ffaae94c393530f065b6dbe9e818"><div class="ttname"><a href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00148">tos_supervoxels.h:148</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00084">tos_supervoxels.h:84</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00090">tos_supervoxels.h:90</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a12d9871a570ede7c63771a6574ba29a0"><div class="ttname"><a href="classtos__supervoxels.html#a12d9871a570ede7c63771a6574ba29a0">tos_supervoxels::get_input_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGBA >::Ptr get_input_cloud()</div><div class="ttdoc">returns input cloud </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00534">tos_supervoxels.cpp:534</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a749d926a09c9543be3d09516b780e445"><div class="ttname"><a href="classtos__supervoxels.html#a749d926a09c9543be3d09516b780e445">tos_supervoxels::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00140">tos_supervoxels.h:140</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00449">tos_supervoxels.cpp:449</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a90e7d8f4452a40fe3d3a24ac734481da"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a90e7d8f4452a40fe3d3a24ac734481da">tos_supervoxels_parameters::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00057">tos_supervoxels.h:57</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00070">tos_supervoxels.h:70</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a839bc1bb944a6194cbe6b939b87509dc"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a839bc1bb944a6194cbe6b939b87509dc">tos_supervoxels_parameters::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00065">tos_supervoxels.h:65</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a43ea0ab047c7944ef293c0e762b4111a"><div class="ttname"><a href="classtos__supervoxels.html#a43ea0ab047c7944ef293c0e762b4111a">tos_supervoxels::MIN_SEGMENT_SIZE</a></div><div class="ttdeci">static const int MIN_SEGMENT_SIZE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00139">tos_supervoxels.h:139</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae99864a38f7abfb490ff3d452addf9af"><div class="ttname"><a href="classtos__supervoxels.html#ae99864a38f7abfb490ff3d452addf9af">tos_supervoxels::get_sv_normal_cloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointNormal > get_sv_normal_cloud()</div><div class="ttdoc">returns normals point cloud of the supervoxels </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00554">tos_supervoxels.cpp:554</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00366">tos_supervoxels.cpp:366</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a84b7ffaae94c393530f065b6dbe9e818"><div class="ttname"><a href="classtos__supervoxels.html#a84b7ffaae94c393530f065b6dbe9e818">tos_supervoxels::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00145">tos_supervoxels.h:145</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae54647f05bc9cbb541b95d23d32cab6b"><div class="ttname"><a href="classtos__supervoxels.html#ae54647f05bc9cbb541b95d23d32cab6b">tos_supervoxels::plane_coefficients</a></div><div class="ttdeci">pcl::ModelCoefficients plane_coefficients</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00157">tos_supervoxels.h:157</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00087">tos_supervoxels.h:87</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_abdd417b1ed4102a5655118d849138484"><div class="ttname"><a href="classtos__supervoxels.html#abdd417b1ed4102a5655118d849138484">tos_supervoxels::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00197">tos_supervoxels.h:197</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00481">tos_supervoxels.cpp:481</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aee04463d10de7b08e4b4bdf5634ac3ae"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">tos_supervoxels_parameters::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00052">tos_supervoxels.h:52</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00494">tos_supervoxels.cpp:494</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aee04463d10de7b08e4b4bdf5634ac3ae"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aee04463d10de7b08e4b4bdf5634ac3ae">tos_supervoxels_parameters::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00049">tos_supervoxels.h:49</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a1b6c5ff3f4e6b18cf059af26787aa609"><div class="ttname"><a href="classtos__supervoxels.html#a1b6c5ff3f4e6b18cf059af26787aa609">tos_supervoxels::~tos_supervoxels</a></div><div class="ttdeci">~tos_supervoxels()</div><div class="ttdoc">class destructor </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00036">tos_supervoxels.cpp:36</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_aca7419baf464d01abca1bdbf4bea0c5d"><div class="ttname"><a href="classtos__supervoxels.html#aca7419baf464d01abca1bdbf4bea0c5d">tos_supervoxels::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00186">tos_supervoxels.h:186</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a0662491cb89776e0f8ff76753bb24840"><div class="ttname"><a href="classtos__supervoxels.html#a0662491cb89776e0f8ff76753bb24840">tos_supervoxels::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00181">tos_supervoxels.h:181</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00498">tos_supervoxels.cpp:498</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00511">tos_supervoxels.cpp:511</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a527522f124f4717a1196b502f7cb8ffe"><div class="ttname"><a href="classtos__supervoxels.html#a527522f124f4717a1196b502f7cb8ffe">tos_supervoxels::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00189">tos_supervoxels.h:189</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00046">tos_supervoxels.h:46</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a9f95373c358aae383050081be0144aee"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00054">tos_supervoxels.h:54</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a8a6ed871f5bed0045d4d5009ac4ba908"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00062">tos_supervoxels.h:62</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a1aa263f14c3322d5aaedc123cd1e2b89"><div class="ttname"><a href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00212">tos_supervoxels.cpp:212</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ac3bc6b70b506f7e97615c16521cd04cc"><div class="ttname"><a href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">tos_supervoxels::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00140">tos_supervoxels.h:140</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a9ae35d7f443adcff4aed9dff59b354df"><div class="ttname"><a href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">tos_supervoxels::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00132">tos_supervoxels.h:132</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html"><div class="ttname"><a href="classtos__supervoxels.html">tos_supervoxels</a></div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00126">tos_supervoxels.h:126</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a736ccbb937f187a9e0886b8a565e6412"><div class="ttname"><a href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">tos_supervoxels::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00134">tos_supervoxels.h:134</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00058">tos_supervoxels.cpp:58</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="tos__supervoxels_8h_source.html#l00035">tos_supervoxels.h:35</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa41b80f3d1392f92fe81affe0c1b4dd1"><div class="ttname"><a href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a></div><div class="ttdeci">std::map< uint32_t, pcl::Supervoxel< pcl::PointXYZRGBA >::Ptr > get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00536">tos_supervoxels.cpp:536</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00043">tos_supervoxels.h:43</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a9f95373c358aae383050081be0144aee"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a9f95373c358aae383050081be0144aee">tos_supervoxels_parameters::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00051">tos_supervoxels.h:51</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a8a6ed871f5bed0045d4d5009ac4ba908"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a8a6ed871f5bed0045d4d5009ac4ba908">tos_supervoxels_parameters::USE_EXTENDED_CONVEXITY</a></div><div class="ttdeci">static const bool USE_EXTENDED_CONVEXITY</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00059">tos_supervoxels.h:59</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a1aa263f14c3322d5aaedc123cd1e2b89"><div class="ttname"><a href="classtos__supervoxels.html#a1aa263f14c3322d5aaedc123cd1e2b89">tos_supervoxels::get_default_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters get_default_parameters()</div><div class="ttdoc">get the default parameters of the algorithm </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00214">tos_supervoxels.cpp:214</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ac3bc6b70b506f7e97615c16521cd04cc"><div class="ttname"><a href="classtos__supervoxels.html#ac3bc6b70b506f7e97615c16521cd04cc">tos_supervoxels::CONCAVITY_TOLERANCE_THRESHOLD</a></div><div class="ttdeci">static const double CONCAVITY_TOLERANCE_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00137">tos_supervoxels.h:137</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a9ae35d7f443adcff4aed9dff59b354df"><div class="ttname"><a href="classtos__supervoxels.html#a9ae35d7f443adcff4aed9dff59b354df">tos_supervoxels::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00129">tos_supervoxels.h:129</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html"><div class="ttname"><a href="classtos__supervoxels.html">tos_supervoxels</a></div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00123">tos_supervoxels.h:123</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a736ccbb937f187a9e0886b8a565e6412"><div class="ttname"><a href="classtos__supervoxels.html#a736ccbb937f187a9e0886b8a565e6412">tos_supervoxels::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00131">tos_supervoxels.h:131</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the public members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00061">tos_supervoxels.cpp:61</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="tos__supervoxels_8h_source.html#l00032">tos_supervoxels.h:32</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa41b80f3d1392f92fe81affe0c1b4dd1"><div class="ttname"><a href="classtos__supervoxels.html#aa41b80f3d1392f92fe81affe0c1b4dd1">tos_supervoxels::get_supervoxel_clusters</a></div><div class="ttdeci">std::map< uint32_t, pcl::Supervoxel< pcl::PointXYZRGBA >::Ptr > get_supervoxel_clusters()</div><div class="ttdoc">returns supervoxel_clusters </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00549">tos_supervoxels.cpp:549</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a976704822ba4713a07bf66a09029ae90"><div class="ttname"><a href="classtos__supervoxels.html#a976704822ba4713a07bf66a09029ae90">tos_supervoxels::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00182">tos_supervoxels.h:182</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a5be032e015d335e2efd1fa6dad645ea2"><div class="ttname"><a href="classtos__supervoxels.html#a5be032e015d335e2efd1fa6dad645ea2">tos_supervoxels::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00198">tos_supervoxels.h:198</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a1c7303ad40e0a46d39f9cc32d44b7a5b"><div class="ttname"><a href="classtos__supervoxels.html#a1c7303ad40e0a46d39f9cc32d44b7a5b">tos_supervoxels::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00183">tos_supervoxels.h:183</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aedda6ac8b4ed4d73db916e5faf6085e7"><div class="ttname"><a href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &supervoxel_center, pcl::PointCloud< pcl::PointXYZRGBA > &adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00121">tos_supervoxels.cpp:121</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8652ee2830cb37f6b4b0e0b8456076f3"><div class="ttname"><a href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">tos_supervoxels::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00137">tos_supervoxels.h:137</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ac49ae5d232a0d12110f1cc804008c376"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00066">tos_supervoxels.h:66</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00076">tos_supervoxels.h:76</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa98f5fdb5a742faf47660fec6d65ca7f"><div class="ttname"><a href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00240">tos_supervoxels.cpp:240</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aedda6ac8b4ed4d73db916e5faf6085e7"><div class="ttname"><a href="classtos__supervoxels.html#aedda6ac8b4ed4d73db916e5faf6085e7">tos_supervoxels::addSupervoxelConnectionsToViewer</a></div><div class="ttdeci">void addSupervoxelConnectionsToViewer(pcl::PointXYZRGBA &supervoxel_center, pcl::PointCloud< pcl::PointXYZRGBA > &adjacent_supervoxel_centers, std::string supervoxel_name, boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">shows supervoxel connections to viewer thorugh poly data shapes </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00124">tos_supervoxels.cpp:124</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8652ee2830cb37f6b4b0e0b8456076f3"><div class="ttname"><a href="classtos__supervoxels.html#a8652ee2830cb37f6b4b0e0b8456076f3">tos_supervoxels::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00134">tos_supervoxels.h:134</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ac49ae5d232a0d12110f1cc804008c376"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ac49ae5d232a0d12110f1cc804008c376">tos_supervoxels_parameters::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00063">tos_supervoxels.h:63</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_adcf6aa7cff672a17aa8a8c82dc4f3df9"><div class="ttname"><a href="classtos__supervoxels.html#adcf6aa7cff672a17aa8a8c82dc4f3df9">tos_supervoxels::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00190">tos_supervoxels.h:190</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a42658ce54347c61ad68363f4bcb98b6e"><div class="ttname"><a href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00141">tos_supervoxels.h:141</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a577fb6e267ef31b4b1f79f6bceeeba67"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">tos_supervoxels_parameters::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00051">tos_supervoxels.h:51</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa4f64e40e770a4f04693f9437f4976d4"><div class="ttname"><a href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00136">tos_supervoxels.h:136</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8abdeeb9ba62c3c1391a8e4199126695"><div class="ttname"><a href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a></div><div class="ttdeci">void set_parameters(tos_supervoxels_parameters &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="tos__supervoxels_8cpp_source.html#l00070">tos_supervoxels.cpp:70</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a086b59d77879d7987ea97005b180a49f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00053">tos_supervoxels.h:53</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa4ab98eb4f5bf656a74fbfb43e3c1843"><div class="ttname"><a href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap< uint32_t, uint32_t > get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00531">tos_supervoxels.cpp:531</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a42658ce54347c61ad68363f4bcb98b6e"><div class="ttname"><a href="classtos__supervoxels.html#a42658ce54347c61ad68363f4bcb98b6e">tos_supervoxels::SMOOTHNESS_THRESHOLD</a></div><div class="ttdeci">static const double SMOOTHNESS_THRESHOLD</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00138">tos_supervoxels.h:138</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a577fb6e267ef31b4b1f79f6bceeeba67"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a577fb6e267ef31b4b1f79f6bceeeba67">tos_supervoxels_parameters::DISABLE_TRANSFORM</a></div><div class="ttdeci">static const bool DISABLE_TRANSFORM</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00048">tos_supervoxels.h:48</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa4f64e40e770a4f04693f9437f4976d4"><div class="ttname"><a href="classtos__supervoxels.html#aa4f64e40e770a4f04693f9437f4976d4">tos_supervoxels::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00133">tos_supervoxels.h:133</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8abdeeb9ba62c3c1391a8e4199126695"><div class="ttname"><a href="classtos__supervoxels.html#a8abdeeb9ba62c3c1391a8e4199126695">tos_supervoxels::set_parameters</a></div><div class="ttdeci">void set_parameters(tos_supervoxels_parameters &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="tos__supervoxels_8cpp_source.html#l00073">tos_supervoxels.cpp:73</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a086b59d77879d7987ea97005b180a49f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a086b59d77879d7987ea97005b180a49f">tos_supervoxels_parameters::SEED_RESOLUTION</a></div><div class="ttdeci">static const double SEED_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00050">tos_supervoxels.h:50</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aa4ab98eb4f5bf656a74fbfb43e3c1843"><div class="ttname"><a href="classtos__supervoxels.html#aa4ab98eb4f5bf656a74fbfb43e3c1843">tos_supervoxels::get_supervoxel_adjacency</a></div><div class="ttdeci">std::multimap< uint32_t, uint32_t > get_supervoxel_adjacency()</div><div class="ttdoc">returns supervoxel_adjacency map </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00544">tos_supervoxels.cpp:544</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a72c296d6d619cb81aac94957dbff1bdb"><div class="ttname"><a href="classtos__supervoxels.html#a72c296d6d619cb81aac94957dbff1bdb">tos_supervoxels::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00193">tos_supervoxels.h:193</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a49f096545d2239dea0936096b892f583"><div class="ttname"><a href="classtos__supervoxels.html#a49f096545d2239dea0936096b892f583">tos_supervoxels::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00196">tos_supervoxels.h:196</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
<div class="ttc" id="classtos__supervoxels__parameters_html_a645ba622d2f0a707e3efdb061a7e5701"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a645ba622d2f0a707e3efdb061a7e5701">tos_supervoxels_parameters::tos_supervoxels_parameters</a></div><div class="ttdeci">tos_supervoxels_parameters()</div><div class="ttdoc">Constructor Sets all the parameters to a default value. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00004">tos_supervoxels.cpp:4</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00077">tos_supervoxels.h:77</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ae2ecf4fef5f0f963a8c60d877b45afa1"><div class="ttname"><a href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">tos_supervoxels::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00144">tos_supervoxels.h:144</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ae2ecf4fef5f0f963a8c60d877b45afa1"><div class="ttname"><a href="classtos__supervoxels.html#ae2ecf4fef5f0f963a8c60d877b45afa1">tos_supervoxels::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00141">tos_supervoxels.h:141</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a8e05551a5406f85d3aa97ce50235ef8a"><div class="ttname"><a href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a></div><div class="ttdeci">void init(pcl::PointCloud< pcl::PointXYZRGBA > input_cloud, tos_supervoxels_parameters &opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00041">tos_supervoxels.cpp:41</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00079">tos_supervoxels.h:79</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a34c1b5941d7ff929e2f356c0751bd9f0"><div class="ttname"><a href="classtos__supervoxels.html#a34c1b5941d7ff929e2f356c0751bd9f0">tos_supervoxels::tos_supervoxels</a></div><div class="ttdeci">tos_supervoxels()</div><div class="ttdoc">Class costructor. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00031">tos_supervoxels.cpp:31</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00083">tos_supervoxels.h:83</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00080">tos_supervoxels.h:80</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a8b884facceaccc4e019e852f2ec51280"><div class="ttname"><a href="classtos__supervoxels.html#a8b884facceaccc4e019e852f2ec51280">tos_supervoxels::initialized</a></div><div class="ttdeci">bool initialized</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00201">tos_supervoxels.h:201</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a7eb9f9d72fe72e24078496f0d8bfcc1a"><div class="ttname"><a href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud< pcl::PointXYZRGBA >::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="tos__supervoxels_8cpp_source.html#l00150">tos_supervoxels.cpp:150</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab654ad8e92e68a70f40a5dda9e11d83b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">tos_supervoxels_parameters::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00056">tos_supervoxels.h:56</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a060b8b3f544152ee2f5266c1f4cef012"><div class="ttname"><a href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">tos_supervoxels::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00133">tos_supervoxels.h:133</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a8199c1eb6e5a493fe56f4eb1c5ffe0c4"><div class="ttname"><a href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">tos_supervoxels::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00135">tos_supervoxels.h:135</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ab190977726c84292dad40f4337ec6ba9"><div class="ttname"><a href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGBA > > 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="tos__supervoxels_8cpp_source.html#l00486">tos_supervoxels.cpp:486</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a7eb9f9d72fe72e24078496f0d8bfcc1a"><div class="ttname"><a href="classtos__supervoxels.html#a7eb9f9d72fe72e24078496f0d8bfcc1a">tos_supervoxels::detectObjectsOnTable</a></div><div class="ttdeci">void detectObjectsOnTable(pcl::PointCloud< pcl::PointXYZRGBA >::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="tos__supervoxels_8cpp_source.html#l00153">tos_supervoxels.cpp:153</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab654ad8e92e68a70f40a5dda9e11d83b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab654ad8e92e68a70f40a5dda9e11d83b">tos_supervoxels_parameters::NORMAL_IMPORTANCE</a></div><div class="ttdeci">static const double NORMAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00053">tos_supervoxels.h:53</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a060b8b3f544152ee2f5266c1f4cef012"><div class="ttname"><a href="classtos__supervoxels.html#a060b8b3f544152ee2f5266c1f4cef012">tos_supervoxels::VOXEL_RESOLUTION</a></div><div class="ttdeci">static const double VOXEL_RESOLUTION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00130">tos_supervoxels.h:130</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a8199c1eb6e5a493fe56f4eb1c5ffe0c4"><div class="ttname"><a href="classtos__supervoxels.html#a8199c1eb6e5a493fe56f4eb1c5ffe0c4">tos_supervoxels::COLOR_IMPORTANCE</a></div><div class="ttdeci">static const double COLOR_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00132">tos_supervoxels.h:132</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ab190977726c84292dad40f4337ec6ba9"><div class="ttname"><a href="classtos__supervoxels.html#ab190977726c84292dad40f4337ec6ba9">tos_supervoxels::get_segmented_objects_simple</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGBA > > 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="tos__supervoxels_8cpp_source.html#l00499">tos_supervoxels.cpp:499</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a43ea7c15095e046b55674b120eb096f0"><div class="ttname"><a href="classtos__supervoxels.html#a43ea7c15095e046b55674b120eb096f0">tos_supervoxels::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00192">tos_supervoxels.h:192</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a488f2d8af0e9e5adf5a7268829dd1e4b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00089">tos_supervoxels.h:89</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00462">tos_supervoxels.cpp:462</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab824cdae92c7bed3d3013e0b5fc16938"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00055">tos_supervoxels.h:55</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab75a5338a5e95cee71573beeca040962"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00063">tos_supervoxels.h:63</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a488f2d8af0e9e5adf5a7268829dd1e4b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a488f2d8af0e9e5adf5a7268829dd1e4b">tos_supervoxels_parameters::zmax</a></div><div class="ttdeci">double zmax</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00086">tos_supervoxels.h:86</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00475">tos_supervoxels.cpp:475</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00072">tos_supervoxels.h:72</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab824cdae92c7bed3d3013e0b5fc16938"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab824cdae92c7bed3d3013e0b5fc16938">tos_supervoxels_parameters::SPATIAL_IMPORTANCE</a></div><div class="ttdeci">static const double SPATIAL_IMPORTANCE</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00052">tos_supervoxels.h:52</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab75a5338a5e95cee71573beeca040962"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab75a5338a5e95cee71573beeca040962">tos_supervoxels_parameters::USE_SANITY_CRITERION</a></div><div class="ttdeci">static const bool USE_SANITY_CRITERION</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00060">tos_supervoxels.h:60</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a22dedb407830be7e35edcc98a84831d5"><div class="ttname"><a href="classtos__supervoxels.html#a22dedb407830be7e35edcc98a84831d5">tos_supervoxels::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00185">tos_supervoxels.h:185</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aff21e5b5ee671a64b72e2a5bef109db2"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00067">tos_supervoxels.h:67</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aebfec7e745537e12d087ec3fb2cfb091"><div class="ttname"><a href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">tos_supervoxels::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00147">tos_supervoxels.h:147</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a13fc3e3a65e0888ec8cb4523d6c9e2cc"><div class="ttname"><a href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">tos_supervoxels::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00149">tos_supervoxels.h:149</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aff21e5b5ee671a64b72e2a5bef109db2"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aff21e5b5ee671a64b72e2a5bef109db2">tos_supervoxels_parameters::ZMAX</a></div><div class="ttdeci">static const double ZMAX</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00064">tos_supervoxels.h:64</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_aebfec7e745537e12d087ec3fb2cfb091"><div class="ttname"><a href="classtos__supervoxels.html#aebfec7e745537e12d087ec3fb2cfb091">tos_supervoxels::ZMIN</a></div><div class="ttdeci">static const double ZMIN</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00144">tos_supervoxels.h:144</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a13fc3e3a65e0888ec8cb4523d6c9e2cc"><div class="ttname"><a href="classtos__supervoxels.html#a13fc3e3a65e0888ec8cb4523d6c9e2cc">tos_supervoxels::TH_POINTS</a></div><div class="ttdeci">static const int TH_POINTS</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00146">tos_supervoxels.h:146</a></div></div>
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diff --git a/trunk/doc/html/tos__supervoxels__test_8cpp_source.html b/trunk/doc/html/tos__supervoxels__test_8cpp_source.html
index 5c7d614a4daa778d97a65fa3c1f92aac98b1ee07..2d353dd6c663de2d59d8a6fbd991b51b8d2539fc 100644
--- a/trunk/doc/html/tos__supervoxels__test_8cpp_source.html
+++ b/trunk/doc/html/tos__supervoxels__test_8cpp_source.html
@@ -4,7 +4,7 @@
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.6"/>
-<title>tos_supervoxels: /home/nicola/iri_ws/labrobotica/algorithms/tos_supervoxels/trunk/src/examples/tos_supervoxels_test.cpp Source File</title>
+<title>tos_supervoxels: /home/ncovallero/iri-lab/labrobotica/algorithms/tos_supervoxels/trunk/src/examples/tos_supervoxels_test.cpp Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
@@ -136,166 +136,170 @@
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  seg.<a class="code" href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">init</a>(*cloud,opt);</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="comment">//seg.init(*cloud);</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  seg.<a class="code" href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">print_parameters</a>();</div>
-<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  seg.<a class="code" href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">segment</a>();</div>
+<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  seg.<a class="code" href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">segment</a>();</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  seg_objs = seg.<a class="code" href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">get_segmented_objects</a>();</div>
-<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  std::cout << <span class="stringliteral">"\nDetected "</span> << seg_objs.size() << <span class="stringliteral">" objects.\n\n"</span>;</div>
-<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">//----------------------------------------</span></div>
-<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
-<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  pcl::visualization::PCLVisualizer::Ptr viewer (<span class="keyword">new</span> pcl::visualization::PCLVisualizer (<span class="stringliteral">"3D Viewer"</span>));</div>
-<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  viewer->setBackgroundColor (0, 0, 0);</div>
-<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  viewer->registerKeyboardCallback (keyboardEventOccurred, (<span class="keywordtype">void</span>*)&viewer); </div>
-<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
-<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <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>  <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>  <span class="keywordtype">bool</span> show_super_voxel_normals = <span class="keyword">false</span>;</div>
-<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  seg.<a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">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>  </div>
-<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  std::cout << <span class="stringliteral">"Press 'n' to show the segmented objects\n"</span>;</div>
-<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">while</span> (!viewer->wasStopped () && !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>  viewer->spinOnce (100);</div>
-<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  seg.<a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(viewer);</div>
-<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div>
-<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <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>  std::cout << <span class="stringliteral">"\nClose the visualzier to go to the next step\n"</span>;</div>
-<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  seg.<a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">show_segmented_objects</a>(viewer);</div>
-<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">while</span> (!viewer->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>  viewer->spinOnce (100);</div>
-<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  seg.<a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(viewer);</div>
-<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> </div>
-<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  seg.<a class="code" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">reset</a>(); <span class="comment">// free memory</span></div>
-<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div>
-<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">if</span>(cloud->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>  {</div>
-<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  std::cout << <span class="stringliteral">"You are now viewing the RGB image (recovered by the point cloud)."</span></div>
-<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  << <span class="stringliteral">" Press whatever key to go further."</span>;</div>
-<div class="line"><a name="l00144"></a><span class="lineno"> 144</span> </div>
-<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="comment">// recover the RGB IMAGE from the point cloud </span></div>
-<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  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="l00147"></a><span class="lineno"> 147</span> </div>
-<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row < img_orignal.rows; ++row)</div>
-<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  {</div>
-<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < img_orignal.cols; ++c)</div>
-<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  { </div>
-<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
-<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  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="l00154"></a><span class="lineno"> 154</span> </div>
-<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  uint8_t r = (uint8_t)point.r;</div>
-<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  uint8_t g = (uint8_t)point.g; </div>
-<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  uint8_t b = (uint8_t)point.b; </div>
-<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  </div>
-<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  cv::Vec3b color;<span class="comment">//vector of colors </span></div>
-<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  color.val[0] = b;</div>
-<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  color.val[1] = g;</div>
-<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  color.val[2] = r;</div>
-<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  img_orignal.at<cv::Vec3b>(row,c) = color;</div>
-<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  }</div>
-<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  }</div>
-<div class="line"><a name="l00166"></a><span class="lineno"> 166</span> </div>
-<div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div>
-<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> </div>
-<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  cv::namedWindow(<span class="stringliteral">"Original"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name "MyWindow"</span></div>
-<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  cv::imshow(<span class="stringliteral">"Original"</span>, img_orignal); <span class="comment">//display the image which is stored in the 'img' in the "MyWindow" window</span></div>
+<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="comment">/* you could eventually use the following:</span></div>
+<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="comment"> std::vector<pcl::PointCloud<pcl::PointXYZRGBA> > segmented_objs;</span></div>
+<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> segmented_objs = seg.get_segmented_objects_simple();</span></div>
+<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> */</span></div>
+<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  std::cout << <span class="stringliteral">"\nDetected "</span> << seg_objs.size() << <span class="stringliteral">" objects.\n\n"</span>;</div>
+<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">//----------------------------------------</span></div>
+<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
+<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  pcl::visualization::PCLVisualizer::Ptr viewer (<span class="keyword">new</span> pcl::visualization::PCLVisualizer (<span class="stringliteral">"3D Viewer"</span>));</div>
+<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  viewer->setBackgroundColor (0, 0, 0);</div>
+<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  viewer->registerKeyboardCallback (keyboardEventOccurred, (<span class="keywordtype">void</span>*)&viewer); </div>
+<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div>
+<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">// show super voxels with normals and adiacency map </span></div>
+<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">bool</span> show_adjacency_map = <span class="keyword">true</span>;</div>
+<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">bool</span> show_super_voxel_normals = <span class="keyword">false</span>;</div>
+<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  seg.<a class="code" href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">show_super_voxels</a>(viewer,show_adjacency_map,show_super_voxel_normals); </div>
+<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
+<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  std::cout << <span class="stringliteral">"Press 'n' to show the segmented objects\n"</span>;</div>
+<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">while</span> (!viewer->wasStopped () && !pressed) <span class="comment">// the pressed variable is just usfull only for this first while (bad programming)</span></div>
+<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  viewer->spinOnce (100);</div>
+<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  seg.<a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(viewer);</div>
+<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
+<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">// show the segmented objects, the result of the segmentation</span></div>
+<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  std::cout << <span class="stringliteral">"\nClose the visualizer to go to the next step\n"</span>;</div>
+<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  seg.<a class="code" href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">show_segmented_objects</a>(viewer);</div>
+<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">while</span> (!viewer->wasStopped ()) <span class="comment">// the pressed variable is just usfull only for this first while (bad programming)</span></div>
+<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  viewer->spinOnce (100);</div>
+<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  seg.<a class="code" href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">clean_viewer</a>(viewer);</div>
+<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div>
+<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  seg.<a class="code" href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">reset</a>(); <span class="comment">// free memory</span></div>
+<div class="line"><a name="l00143"></a><span class="lineno"> 143</span> </div>
+<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">if</span>(cloud->isOrganized())<span class="comment">//if the point cloud is organized we can work with the RGB image</span></div>
+<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  {</div>
+<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  std::cout << <span class="stringliteral">"You are now viewing the RGB image (recovered by the point cloud)."</span></div>
+<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  << <span class="stringliteral">" Press whatever key to go further."</span>;</div>
+<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
+<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="comment">// recover the RGB IMAGE from the point cloud </span></div>
+<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  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="l00151"></a><span class="lineno"> 151</span> </div>
+<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row = 0; row < img_orignal.rows; ++row)</div>
+<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  {</div>
+<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < img_orignal.cols; ++c)</div>
+<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  { </div>
+<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
+<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  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="l00158"></a><span class="lineno"> 158</span> </div>
+<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  uint8_t r = (uint8_t)point.r;</div>
+<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  uint8_t g = (uint8_t)point.g; </div>
+<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  uint8_t b = (uint8_t)point.b; </div>
+<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
+<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  cv::Vec3b color;<span class="comment">//vector of colors </span></div>
+<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  color.val[0] = b;</div>
+<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  color.val[1] = g;</div>
+<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  color.val[2] = r;</div>
+<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  img_orignal.at<cv::Vec3b>(row,c) = color;</div>
+<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  }</div>
+<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  }</div>
+<div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div>
-<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  cv::imwrite( <span class="stringliteral">"./original.jpg"</span>, img_orignal );</div>
-<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div>
-<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  cv::waitKey(0);</div>
+<div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div>
+<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  cv::namedWindow(<span class="stringliteral">"Original"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name "MyWindow"</span></div>
+<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  cv::imshow(<span class="stringliteral">"Original"</span>, img_orignal); <span class="comment">//display the image which is stored in the 'img' in the "MyWindow" window</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div>
-<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <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="l00177"></a><span class="lineno"> 177</span>  std::cout << <span class="stringliteral">"\nYou are now visualizing the results of the segmentation in the 2D rgb image."</span></div>
-<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  << <span class="stringliteral">" Press right arrow to visualize the next object, the left one to visualize the previous one, and ESC to exit.\n"</span>; </div>
-<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  </div>
-<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <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="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// in the input cloud </span></div>
-<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  pcl::KdTreeFLANN<pcl::PointXYZRGBA> kdtree;</div>
-<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  kdtree.setInputCloud (cloud);</div>
-<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordtype">int</span> k = 0;</div>
-<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  uint32_t idx_v = 0; <span class="comment">//index of the object to work with </span></div>
-<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  cv::namedWindow(<span class="stringliteral">"Segmented Results"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name "MyWindow"</span></div>
-<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keywordflow">while</span>( (k != 27 && k != 1048603) && idx_v < seg_objs.size() && idx_v >= 0) <span class="comment">//while it ESC is not pressed </span></div>
-<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  {</div>
-<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">if</span>(seg_objs[idx_v].object_cloud.points.size() > 400)</div>
-<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  {</div>
-<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> </div>
-<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  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="l00193"></a><span class="lineno"> 193</span> </div>
-<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="comment">//fill the matrix "img" with only the points of the current object</span></div>
-<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < seg_objs[idx_v].object_cloud.points.size(); ++i)</div>
-<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div>
-<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  pcl::PointXYZRGBA searchPoint;</div>
-<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  searchPoint.x = seg_objs[idx_v].object_cloud.points[i].x;</div>
-<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  searchPoint.y = seg_objs[idx_v].object_cloud.points[i].y;</div>
-<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  searchPoint.z = seg_objs[idx_v].object_cloud.points[i].z;</div>
-<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  std::vector<int> pointIdxNKNSearch(1);</div>
-<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  std::vector<float> pointNKNSquaredDistance(1);</div>
-<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div>
-<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordflow">if</span> ( kdtree.nearestKSearch (searchPoint, 1, pointIdxNKNSearch, pointNKNSquaredDistance) > 0 )</div>
-<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  {</div>
-<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  pcl::PointXYZRGBA point = cloud->points[pointIdxNKNSearch[0]]; </div>
+<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  cv::imwrite( <span class="stringliteral">"./original.jpg"</span>, img_orignal );</div>
+<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
+<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  cv::waitKey(0);</div>
+<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> </div>
+<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <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="l00181"></a><span class="lineno"> 181</span>  std::cout << <span class="stringliteral">"\nYou are now visualizing the results of the segmentation in the 2D rgb image."</span></div>
+<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  << <span class="stringliteral">" Press right arrow to visualize the next object, the left one to visualize the previous one, and ESC to exit.\n"</span>; </div>
+<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
+<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <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="l00185"></a><span class="lineno"> 185</span>  <span class="comment">// in the input cloud </span></div>
+<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  pcl::KdTreeFLANN<pcl::PointXYZRGBA> kdtree;</div>
+<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  kdtree.setInputCloud (cloud);</div>
+<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordtype">int</span> k = 0;</div>
+<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  uint32_t idx_v = 0; <span class="comment">//index of the object to work with </span></div>
+<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  cv::namedWindow(<span class="stringliteral">"Segmented Results"</span>, CV_WINDOW_AUTOSIZE); <span class="comment">//create a window with the name "MyWindow"</span></div>
+<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keywordflow">while</span>( (k != 27 && k != 1048603) && idx_v < seg_objs.size() && idx_v >= 0) <span class="comment">//while it ESC is not pressed </span></div>
+<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  {</div>
+<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <span class="keywordflow">if</span>(seg_objs[idx_v].object_cloud.points.size() > 400)</div>
+<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  {</div>
+<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div>
+<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  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="l00197"></a><span class="lineno"> 197</span> </div>
+<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="comment">//fill the matrix "img" with only the points of the current object</span></div>
+<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < seg_objs[idx_v].object_cloud.points.size(); ++i)</div>
+<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  {</div>
+<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  pcl::PointXYZRGBA searchPoint;</div>
+<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  searchPoint.x = seg_objs[idx_v].object_cloud.points[i].x;</div>
+<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  searchPoint.y = seg_objs[idx_v].object_cloud.points[i].y;</div>
+<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  searchPoint.z = seg_objs[idx_v].object_cloud.points[i].z;</div>
+<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  std::vector<int> pointIdxNKNSearch(1);</div>
+<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  std::vector<float> pointNKNSquaredDistance(1);</div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span> </div>
-<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  uint8_t r = (uint8_t)point.r;</div>
-<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  uint8_t g = (uint8_t)point.g; </div>
-<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  uint8_t b = (uint8_t)point.b; </div>
-<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  </div>
-<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  cv::Vec3b color; <span class="comment">//vector of colors </span></div>
-<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  color.val[0] = b;</div>
-<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  color.val[1] = g;</div>
-<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  color.val[2] = r;</div>
-<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
-<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">float</span> x,y;</div>
-<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  y = (<span class="keywordtype">int</span>)(pointIdxNKNSearch[0]/cloud->width);</div>
-<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  x = pointIdxNKNSearch[0] - y*cloud->width;</div>
-<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  img.at<cv::Vec3b>(y,x) = color; <span class="comment">//transformation coordinates</span></div>
-<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div>
-<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div>
-<div class="line"><a name="l00223"></a><span class="lineno"> 223</span> </div>
-<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  cv::imshow(<span class="stringliteral">"Segmented Results"</span>, img); <span class="comment">//display the image which is stored in the 'img' in the "MyWindow" window</span></div>
-<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  std::cout << <span class="stringliteral">"Object: "</span> << idx_v + 1 << <span class="stringliteral">" of "</span> << seg_objs.size() << <span class="stringliteral">" objects."</span> << std::endl;</div>
-<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  </div>
-<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  std::stringstream ss;</div>
-<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  ss << <span class="stringliteral">"img"</span> << idx_v << <span class="stringliteral">".jpg"</span>;</div>
-<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  cv::imwrite( ss.str(), img );</div>
-<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  k = cv::waitKey(0);</div>
-<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  }</div>
-<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
-<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <span class="keywordflow">if</span>( k == 65363 || k == 0 || k == 1113939) <span class="comment">// right arrow</span></div>
-<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  idx_v++;</div>
-<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <span class="keywordflow">if</span>( k == 65361 || k == 1113937) <span class="comment">// left arrow</span></div>
-<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  idx_v > 0 ? idx_v-- : idx_v = 0;</div>
-<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  }</div>
-<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  }</div>
-<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">else</span></div>
-<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::cout << <span class="stringliteral">"The point cloud is not organized"</span>;</div>
-<div class="line"><a name="l00241"></a><span class="lineno"> 241</span> </div>
-<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keywordflow">return</span> (0);</div>
-<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> }</div>
-<div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00088">tos_supervoxels.h:88</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00436">tos_supervoxels.cpp:436</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00353">tos_supervoxels.cpp:353</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00084">tos_supervoxels.h:84</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00090">tos_supervoxels.h:90</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00481">tos_supervoxels.cpp:481</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00498">tos_supervoxels.cpp:498</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00046">tos_supervoxels.h:46</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html"><div class="ttname"><a href="classtos__supervoxels.html">tos_supervoxels</a></div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00126">tos_supervoxels.h:126</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00058">tos_supervoxels.cpp:58</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00076">tos_supervoxels.h:76</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_aa98f5fdb5a742faf47660fec6d65ca7f"><div class="ttname"><a href="classtos__supervoxels.html#aa98f5fdb5a742faf47660fec6d65ca7f">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00240">tos_supervoxels.cpp:240</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00077">tos_supervoxels.h:77</a></div></div>
+<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  <span class="keywordflow">if</span> ( kdtree.nearestKSearch (searchPoint, 1, pointIdxNKNSearch, pointNKNSquaredDistance) > 0 )</div>
+<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  {</div>
+<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  pcl::PointXYZRGBA point = cloud->points[pointIdxNKNSearch[0]]; </div>
+<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div>
+<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  uint8_t r = (uint8_t)point.r;</div>
+<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  uint8_t g = (uint8_t)point.g; </div>
+<div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  uint8_t b = (uint8_t)point.b; </div>
+<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
+<div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  cv::Vec3b color; <span class="comment">//vector of colors </span></div>
+<div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  color.val[0] = b;</div>
+<div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  color.val[1] = g;</div>
+<div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  color.val[2] = r;</div>
+<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div>
+<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">float</span> x,y;</div>
+<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  y = (<span class="keywordtype">int</span>)(pointIdxNKNSearch[0]/cloud->width);</div>
+<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  x = pointIdxNKNSearch[0] - y*cloud->width;</div>
+<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  img.at<cv::Vec3b>(y,x) = color; <span class="comment">//transformation coordinates</span></div>
+<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  }</div>
+<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  }</div>
+<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
+<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  cv::imshow(<span class="stringliteral">"Segmented Results"</span>, img); <span class="comment">//display the image which is stored in the 'img' in the "MyWindow" window</span></div>
+<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  std::cout << <span class="stringliteral">"Object: "</span> << idx_v + 1 << <span class="stringliteral">" of "</span> << seg_objs.size() << <span class="stringliteral">" objects."</span> << std::endl;</div>
+<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
+<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  std::stringstream ss;</div>
+<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  ss << <span class="stringliteral">"img"</span> << idx_v << <span class="stringliteral">".jpg"</span>;</div>
+<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  cv::imwrite( ss.str(), img );</div>
+<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  k = cv::waitKey(0);</div>
+<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  }</div>
+<div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div>
+<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <span class="keywordflow">if</span>( k == 65363 || k == 0 || k == 1113939) <span class="comment">// right arrow</span></div>
+<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  idx_v++;</div>
+<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordflow">if</span>( k == 65361 || k == 1113937) <span class="comment">// left arrow</span></div>
+<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  idx_v > 0 ? idx_v-- : idx_v = 0;</div>
+<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  }</div>
+<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  }</div>
+<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  <span class="keywordflow">else</span></div>
+<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  std::cout << <span class="stringliteral">"The point cloud is not organized"</span>;</div>
+<div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div>
+<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <span class="keywordflow">return</span> (0);</div>
+<div class="line"><a name="l00247"></a><span class="lineno"> 247</span> }</div>
+<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> </div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ab859bd58bf8be6ced2149da00b46377d"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ab859bd58bf8be6ced2149da00b46377d">tos_supervoxels_parameters::zmin</a></div><div class="ttdeci">double zmin</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00085">tos_supervoxels.h:85</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a6543bae4355bbd4120851067e876e8ef"><div class="ttname"><a href="classtos__supervoxels.html#a6543bae4355bbd4120851067e876e8ef">tos_supervoxels::segment</a></div><div class="ttdeci">bool segment()</div><div class="ttdoc">Detect and segment the objects on the table. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00242">tos_supervoxels.cpp:242</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_aadaf6239b4dfa5e85ab5f03a7171e68b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#aadaf6239b4dfa5e85ab5f03a7171e68b">tos_supervoxels_parameters::voxel_resolution</a></div><div class="ttdeci">double voxel_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00071">tos_supervoxels.h:71</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af454742145a148274b0f22384d267047"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af454742145a148274b0f22384d267047">tos_supervoxels_parameters::concavity_tolerance_threshold</a></div><div class="ttdeci">double concavity_tolerance_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00078">tos_supervoxels.h:78</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_af1d1b4dbae36a605dae32a263f6134ba"><div class="ttname"><a href="classtos__supervoxels.html#af1d1b4dbae36a605dae32a263f6134ba">tos_supervoxels::show_segmented_objects</a></div><div class="ttdeci">void show_segmented_objects(boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)</div><div class="ttdoc">show the segmented objects </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00449">tos_supervoxels.cpp:449</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_ad6d19d80d55f3619e09e5ef06fbb0625"><div class="ttname"><a href="classtos__supervoxels__parameters.html#ad6d19d80d55f3619e09e5ef06fbb0625">tos_supervoxels_parameters::disable_transform</a></div><div class="ttdeci">bool disable_transform</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00070">tos_supervoxels.h:70</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a75ad67635520b43e2c1ee2f8d3ca7fea"><div class="ttname"><a href="classtos__supervoxels.html#a75ad67635520b43e2c1ee2f8d3ca7fea">tos_supervoxels::show_super_voxels</a></div><div class="ttdeci">void show_super_voxels(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00366">tos_supervoxels.cpp:366</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a183f418204f84e4b74220529d1a5ef50"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a183f418204f84e4b74220529d1a5ef50">tos_supervoxels_parameters::use_extended_convexity</a></div><div class="ttdeci">bool use_extended_convexity</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00081">tos_supervoxels.h:81</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a0d5e7a2d4c2dc79fcdff0cff84346e3f"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a0d5e7a2d4c2dc79fcdff0cff84346e3f">tos_supervoxels_parameters::th_points</a></div><div class="ttdeci">int th_points</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00087">tos_supervoxels.h:87</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_ad7edd076f4eef1619be4395fd01bf660"><div class="ttname"><a href="classtos__supervoxels.html#ad7edd076f4eef1619be4395fd01bf660">tos_supervoxels::get_segmented_objects</a></div><div class="ttdeci">std::vector< Object > 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="tos__supervoxels_8cpp_source.html#l00494">tos_supervoxels.cpp:494</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a98ba97d46806231f790a7d8b2d72c614"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a98ba97d46806231f790a7d8b2d72c614">tos_supervoxels_parameters::use_sanity_criterion</a></div><div class="ttdeci">bool use_sanity_criterion</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a9495bd4a15731cff669e1b2fc6a6bc84"><div class="ttname"><a href="classtos__supervoxels.html#a9495bd4a15731cff669e1b2fc6a6bc84">tos_supervoxels::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="tos__supervoxels_8cpp_source.html#l00511">tos_supervoxels.cpp:511</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html"><div class="ttname"><a href="classtos__supervoxels__parameters.html">tos_supervoxels_parameters</a></div><div class="ttdoc">Class to manage all togheter the parameters of the tos_supervoxels algorithm Class to group together ...</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00043">tos_supervoxels.h:43</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html"><div class="ttname"><a href="classtos__supervoxels.html">tos_supervoxels</a></div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00123">tos_supervoxels.h:123</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a05e74b73d24d578914be111dca9a578d"><div class="ttname"><a href="classtos__supervoxels.html#a05e74b73d24d578914be111dca9a578d">tos_supervoxels::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">reset all the public members reset all the public members. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00061">tos_supervoxels.cpp:61</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a3a6acc80c354b1eca8708bd52d3eb22b"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a3a6acc80c354b1eca8708bd52d3eb22b">tos_supervoxels_parameters::color_importance</a></div><div class="ttdeci">double color_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00073">tos_supervoxels.h:73</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a46f8e143619931f006933fedc201a6c0"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a46f8e143619931f006933fedc201a6c0">tos_supervoxels_parameters::normal_importance</a></div><div class="ttdeci">double normal_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a4089ea9d97431901c848f388052cc5ff"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a4089ea9d97431901c848f388052cc5ff">tos_supervoxels_parameters::spatial_importance</a></div><div class="ttdeci">double spatial_importance</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00074">tos_supervoxels.h:74</a></div></div>
<div class="ttc" id="classtos__supervoxels_html_a8e05551a5406f85d3aa97ce50235ef8a"><div class="ttname"><a href="classtos__supervoxels.html#a8e05551a5406f85d3aa97ce50235ef8a">tos_supervoxels::init</a></div><div class="ttdeci">void init(pcl::PointCloud< pcl::PointXYZRGBA > input_cloud, tos_supervoxels_parameters &opt)</div><div class="ttdoc">Class initializer. </div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8cpp_source.html#l00041">tos_supervoxels.cpp:41</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00082">tos_supervoxels.h:82</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00083">tos_supervoxels.h:83</a></div></div>
-<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00462">tos_supervoxels.cpp:462</a></div></div>
-<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00075">tos_supervoxels.h:75</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_af8ce2c09326f973ab108428e206cfff6"><div class="ttname"><a href="classtos__supervoxels__parameters.html#af8ce2c09326f973ab108428e206cfff6">tos_supervoxels_parameters::smoothness_threshold</a></div><div class="ttdeci">double smoothness_threshold</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00079">tos_supervoxels.h:79</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_abd0b1d082a238c6822fa29f39eefbd42"><div class="ttname"><a href="classtos__supervoxels__parameters.html#abd0b1d082a238c6822fa29f39eefbd42">tos_supervoxels_parameters::min_segment_size</a></div><div class="ttdeci">int min_segment_size</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00080">tos_supervoxels.h:80</a></div></div>
+<div class="ttc" id="classtos__supervoxels_html_a075d805207e4c00a146c98ae0580c5a0"><div class="ttname"><a href="classtos__supervoxels.html#a075d805207e4c00a146c98ae0580c5a0">tos_supervoxels::clean_viewer</a></div><div class="ttdeci">void clean_viewer(boost::shared_ptr< pcl::visualization::PCLVisualizer > &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="tos__supervoxels_8cpp_source.html#l00475">tos_supervoxels.cpp:475</a></div></div>
+<div class="ttc" id="classtos__supervoxels__parameters_html_a6b559741e34466dc429f6b3ae3fc9382"><div class="ttname"><a href="classtos__supervoxels__parameters.html#a6b559741e34466dc429f6b3ae3fc9382">tos_supervoxels_parameters::seed_resolution</a></div><div class="ttdeci">double seed_resolution</div><div class="ttdef"><b>Definition:</b> <a href="tos__supervoxels_8h_source.html#l00072">tos_supervoxels.h:72</a></div></div>
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-Generated on Tue Mar 8 2016 11:18:51 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
+Generated on Fri Apr 29 2016 11:05:18 for tos_supervoxels by  <a href="http://www.doxygen.org/index.html">
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diff --git a/trunk/lib/libtos_supervoxels.so b/trunk/lib/libtos_supervoxels.so
index 16bb41d050661ada50ea1ad23138043d90ba30bb..655e91e6e3629c6b9ed5852d5687c0f750205f2f 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 ed31dd8bbf2d06c86d523184094c7237c85ab3b8..ab2b222a1b5e7f01a600117882462f167603bc4c 100644
--- a/trunk/src/tos_supervoxels.cpp
+++ b/trunk/src/tos_supervoxels.cpp
@@ -239,14 +239,14 @@ tos_supervoxels::get_default_parameters()
}
-void tos_supervoxels::segment()
+bool tos_supervoxels::segment()
{
//float t_ini = cv::getTickCount();
if(!this->initialized)
{
pcl::console::print_error("[tos_supervoxels] No valid input cloud given to the algorithm. The class has not beed initialized.");
- return;
+ return false;
}
pcl::PointIndices::Ptr obj_idx (new pcl::PointIndices());
@@ -258,6 +258,17 @@ void tos_supervoxels::segment()
pcl::SupervoxelClustering<pcl::PointXYZRGBA> super (this->voxel_resolution, this->seed_resolution);
+
+ // resize
+ detected_objects.resize(0); // maybe it is useless
+
+ // Checking for objects on the table
+ if(this->cloud->points.size() == 0)
+ {
+ pcl::console::print_warn("No objects on the table\n");
+ return false;
+ }
+
super.setInputCloud (this->cloud);
//super.setNormalCloud (input_normals);
@@ -349,7 +360,7 @@ void tos_supervoxels::segment()
//std::cout << "elapsed_time (segmentation and postprocessing): " << elapsed_time << "\nelapsed_time of LCCP segmentation: " << elapsed_time_seg << std::endl;
//std::cout << "elapsed_time plane estimation: " << elapsed_time_plane << std::endl;
- return;
+ return true;
}
void tos_supervoxels::show_super_voxels(boost::shared_ptr<pcl::visualization::PCLVisualizer> & viewer,
diff --git a/trunk/src/tos_supervoxels.h b/trunk/src/tos_supervoxels.h
index 19be2cdeb1c8f40693e32d26fc7f3992a0521206..87d2ae73dac82968eab20a912ebd310178dd2bd9 100644
--- a/trunk/src/tos_supervoxels.h
+++ b/trunk/src/tos_supervoxels.h
@@ -242,8 +242,9 @@ class tos_supervoxels
tos_supervoxels_parameters get_default_parameters();
/*! \brief Detect and segment the objects on the table
+ * \details It returns true if there is at least one object on the table, at least one segmented object.
*/
- void segment();
+ bool segment();
/*! \brief shows in the viewer the supervoxels
*