surface_perception::Object Struct Reference

Object represents a segmented object on a surface. More...

#include <object.h>

List of all members.

Public Attributes
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	cloud
	A pointer to the point cloud from which this object was segmented.
geometry_msgs::Vector3	dimensions
	The dimensions of the oriented bounding box around the object.
pcl::PointIndices::Ptr	indices
	The indices of the point cloud that this object comprises.
geometry_msgs::PoseStamped	pose_stamped
	The pose of the object.

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Detailed Description

Object represents a segmented object on a surface.

Definition at line 12 of file object.h.

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Member Data Documentation

pcl::PointCloud<pcl::PointXYZRGB>::Ptr surface_perception::Object::cloud

A pointer to the point cloud from which this object was segmented.

Definition at line 28 of file object.h.

geometry_msgs::Vector3 surface_perception::Object::dimensions

The dimensions of the oriented bounding box around the object.

The dimensions correspond to the x/y/z axis directions of the pose.

Definition at line 25 of file object.h.

pcl::PointIndices::Ptr surface_perception::Object::indices

The indices of the point cloud that this object comprises.

Definition at line 31 of file object.h.

geometry_msgs::PoseStamped surface_perception::Object::pose_stamped

The pose of the object.

The origin is at the center of the oriented bounding box around the object. The z direction points "up" relative to the surface, while the x and y directions are parallel to the sides of the box. There are no other constraints for which direction is x or y.

Definition at line 20 of file object.h.

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

• object.h