This is an output item of the ObjRecRANSAC::recognize() method. More...
#include <pcl/recognition/ransac_based/obj_rec_ransac.h>
Public Member Functions |
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Output (const std::string &object_name, const float rigid_transform[12], float match_confidence, void *user_data) | |
virtual | ~Output () |
Public Attributes |
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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()
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inline |
Definition at line 100 of file obj_rec_ransac.h.
~Output()
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inlinevirtual |
Definition at line 107 of file obj_rec_ransac.h.
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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html