This is Wrapper of CAPE Plane and Cylinder Extraction
P. Proenca and Y. Gao, Fast Cylinder and Plane Extraction from Depth Cameras for Visual Odometry, IROS, 2018
Please Install ROS
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init
cd ~/catkin_ws/src
git clone https://github.com/iory/cape_ros.git
cd ~/catkin_ws
rosdep install -y -r --from-paths src --ignore-src src
catkin build -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
roslaunch cape_ros sample_cape.launch