void detection::GraspPointDetector::detect(const CloudPtr &input_object)
{
clock_t beginCallback = clock();
// If no cloud or no new images since last time, do nothing.
if (input_object->size() == 0) return;
world_obj_ = input_object->makeShared();
pub_cluster_.publish(world_obj_);
// Check if computation succeeded
if (doProcessing())
ROS_INFO("[%g ms] Detection Success", durationMillis(beginCallback));
else
ROS_ERROR("[%g ms] Detection Failed", durationMillis(beginCallback));
}
void detection::GraspPointDetector::setTable(const CloudPtr &table_cloud, const pcl::ModelCoefficientsPtr table_plane)
{
table_plane_ = boost::make_shared<ModelCoefficients>(*table_plane);
table_cloud_ = table_cloud->makeShared();
}