Fawkes API  Fawkes Development Version
tabletop_objects_plugin.cpp
00001 
00002 /***************************************************************************
00003  *  tabletop_objects_plugin.cpp - Segment table using PCL
00004  *
00005  *  Created: Fri Nov 04 23:38:26 2011
00006  *  Copyright  2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include <core/plugin.h>
00024 
00025 #include "tabletop_objects_thread.h"
00026 #ifdef HAVE_VISUAL_DEBUGGING
00027 #  include "visualization_thread.h"
00028 #endif
00029 
00030 using namespace fawkes;
00031 
00032 /** Plugin to segment a tabletop via PCL.
00033  * @author Tim Niemueller
00034  */
00035 class TabletopObjectsPlugin : public fawkes::Plugin
00036 {
00037  public:
00038   /** Constructor.
00039    * @param config Fawkes configuration
00040    */
00041   TabletopObjectsPlugin(Configuration *config)
00042     : Plugin(config)
00043   {
00044     TabletopObjectsThread *tabobjthr = new TabletopObjectsThread();
00045     thread_list.push_back(tabobjthr);
00046 #ifdef HAVE_VISUAL_DEBUGGING
00047     TabletopVisualizationThread *visthr = new TabletopVisualizationThread();
00048     tabobjthr->set_visualization_thread(visthr);
00049     thread_list.push_back(visthr);
00050 #endif
00051   }
00052 };
00053 
00054 PLUGIN_DESCRIPTION("Detect objects on tabletop using PCL")
00055 EXPORT_PLUGIN(TabletopObjectsPlugin)