Point Cloud Library (PCL)  1.9.1-dev
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pcl::recognition::ObjRecRANSAC::Output Class Reference

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 ()
 

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 99 of file obj_rec_ransac.h.

Constructor & Destructor Documentation

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 102 of file obj_rec_ransac.h.

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

Definition at line 109 of file obj_rec_ransac.h.

Member Data Documentation

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

Definition at line 114 of file obj_rec_ransac.h.

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

Definition at line 112 of file obj_rec_ransac.h.

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

Definition at line 113 of file obj_rec_ransac.h.

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

Definition at line 115 of file obj_rec_ransac.h.


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