This is an output item of the ObjRecRANSAC::recognize() method. More...

#include <pcl/recognition/ransac_based/obj_rec_ransac.h>

Public Member Functions
	Output (const std::string &object_name, const float rigid_transform[12], float match_confidence, void *user_data)

virtual	~Output ()=default

Public Attributes
std::string	object_name_

float	rigid_transform_ [12]

float	match_confidence_

void *	user_data_

Detailed Description

This is an output item of the ObjRecRANSAC::recognize() method.

It contains the recognized model, its name (the ones passed to ObjRecRANSAC::addModel()), the rigid transform which aligns the model with the input scene and the match confidence which is a number in the interval (0, 1] which gives the fraction of the model surface area matched to the scene. E.g., a match confidence of 0.3 means that 30% of the object surface area was matched to the scene points. If the scene is represented by a single range image, the match confidence can not be greater than 0.5 since the range scanner sees only one side of each object.

Definition at line 97 of file obj_rec_ransac.h.

Constructor & Destructor Documentation

◆ Output()

pcl::recognition::ObjRecRANSAC::Output::Output	(	const std::string &	object_name,
		const float	rigid_transform[12],
		float	match_confidence,
		void *	user_data
	)

inline

Definition at line 100 of file obj_rec_ransac.h.

◆ ~Output()

virtual pcl::recognition::ObjRecRANSAC::Output::~Output ( )

virtualdefault

Member Data Documentation

◆ match_confidence_

float pcl::recognition::ObjRecRANSAC::Output::match_confidence_

Definition at line 112 of file obj_rec_ransac.h.

◆ object_name_

std::string pcl::recognition::ObjRecRANSAC::Output::object_name_

Definition at line 110 of file obj_rec_ransac.h.

◆ rigid_transform_

float pcl::recognition::ObjRecRANSAC::Output::rigid_transform_[12]

Definition at line 111 of file obj_rec_ransac.h.

◆ user_data_

void* pcl::recognition::ObjRecRANSAC::Output::user_data_

Definition at line 113 of file obj_rec_ransac.h.

The documentation for this class was generated from the following file:

pcl/recognition/ransac_based/obj_rec_ransac.h

Public Member Functions

Public Attributes