mainpage.dox

/**
\mainpage
\htmlinclude manifest.html

\b surface_perception is a simple tabletop/shelf perception pipeline.

surface_perception::Segmentation is the main API.
It takes in a point cloud, where the positive "z" direction points up.
It also assumes that the point cloud has been cropped down to a tabletop/shelf scene.  

Example:
\code
surface_perception::Segmentation seg;
seg.set_input_cloud(pcl_cloud);

// (Optional) Set the particular indices to be used in the input point cloud,
// for the segmentation operation. If the indices is not set, the entire
// input cloud will be used.
seg.set_indices(point_indices);

// (Optional, default 10) Set the maximum difference between the normal
// vector of surfaces and the z-axis.
seg.set_horizontal_tolerance_degrees(10);

// (Optional, default 0.005) Set the maximum distance between the surface
// inliers and the plane that represents the surface.
seg.set_margin_above_surface(0.01);

// (Optional, default 0.01) Set the required distance between each cluster
// corresponding to each object, during the object extraction.
seg.set_cluster_distance(0.01);

// (Optional, default 10) Set the minimum size of object clusters.
seg.set_min_cluster_size(10);

// (Optional, default 10000) Set the maximum size of object clusters.
seg.set_max_cluster_size(10000);

// (Optional, default 5000) Set the minimum number of inliers contained by a
// surface.
seg.set_min_surface_size(5000);

std::vector<SurfaceObjects> surface_objects;
bool success = seg.Segment(&surface_objects);
\endcode

surface_perception::SurfaceViz visualizes the result:
\code
SurfaceViz viz(marker_pub);
viz.set_surface_objects(surface_objects);
viz.Show();
// Call viz.Hide() to remove the visualization.
\endcode
*/