int main(int argc, char** argv) {
ros::init(argc, argv, "Extractor");
Extractor p;
p.initialize(std::string(argv[1]));
int i = 0;
while(i < 1000 && p.compute_object(i)) {
i++;
}
return (0);
}
void getRectangles(const std::string &filename, std::vector<Flap> &rects) {
Extractor p;
// Get planes from point cloud
std::vector<pcl::PointCloud<Point>::ConstPtr > segments;
std::vector<pcl::ModelCoefficients::Ptr> coefficients;
p.initializeFromFilename(filename);
int i = 0;
while ((i < 9) && (p.compute_object(i, segments, coefficients))) {
std::vector<Eigen::Vector3f> corners;
Flap rect = {segments.at(i), coefficients.at(i), corners};
// this_flap.segment = segments.at(i);
// this_flap.normal = coefficients.at(i);
// this_flap.corners = corners;
fitPlaneToRect(rect);
rects.push_back(rect);
i++;
}
std::cout << "num planes found: " << rects.size() << std::endl;
}
