Here are the data structures with brief descriptions:
| CSpatialDensityFilter | This class filters the point cloud according to its density |
| CSuperqComputation | This class provides a thread for computing in real time the superquadric, filtering the point cloud and the superquadric |
| CSuperqModule | Handle the superquadric computation and visualization, the point cloud and superquadric filtering and the interaction with the user |
| CSuperQuadric_NLP | This class solves the optimization problem with the Ipopt software package and returns the estiamted superquadric, better fitting a given point cloud |
| CsuperquadricModel_IDL | SuperquadricModel_IDL IDL Interface to superquadric-model services |
| CSuperqVisualization | This class shows the point cloud used for modeling or the estimated superquadric overlapped on the camera image and in real time |
