Added missing CMake file for filter.

brics_3d_bride_filtering/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#add dynamic reconfigure api
+rosbuild_find_ros_package(dynamic_reconfigure)
+include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
+gencfg()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/common/include)
+INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR}/common/src)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+# for every node that is executable we have to generate a line like:
+rosbuild_add_executable(Filter ros/src/Filter_ros.cpp) 
+
+# protected region user Cmake macros on begin #
+    target_link_libraries(Filter brics3d_world_model brics3d_util brics3d_algorithm brics3d_core  
+        scanlib 
+        6dslam_core 
+        newmat_cmake    
+        ${DL_LIB}
+        flann_s
+        ANN
+     )
+# protected region user Cmake macros end #

brics_3d_bride_segmentation/common/src/DichotomySegmentor_common.cpp

@@ -10,6 +10,7 @@
 #include <brics_3d/algorithm/segmentation/RegionBasedSACSegmentation.h>
 #include <brics_3d/util/PCLTypecaster.h>
 #include <brics_3d/util/Timer.h>
+#include <brics_3d/core/Logger.h>
 /* protected region user include files end */
 
 class DichotomySegmentor_config
@@ -48,6 +49,7 @@ class DichotomySegmentor_impl
     void configure(DichotomySegmentor_config config) 
     {
         /* protected region user configure on begin */
+		brics_3d::Logger::setMinLoglevel(brics_3d::Logger::LOGDEBUG);
 		/* protected region user configure end */
     }
     void update(DichotomySegmentor_data &data, DichotomySegmentor_config config)
@@ -88,7 +90,7 @@ class DichotomySegmentor_impl
 		sacSegmenter.getModelCoefficients(modelCoefficients);
 
 		cout << "Timer: Plane segmantation took " << timer.getElapsedTime() << "[ms]" << endl;
-		cout << "Found Inliers: " << inliers.size() << endl;
+		cout << "Found Inliers: " << inliers.size() << "of " << inputPointCloud.getSize() << " total points." << endl;
 
 		brics_3d::MaskROIExtractor indicesExtractor;
 		indicesExtractor.setMask(&inliers);