Overview

Input

Scene cloud: one or a vector of point clouds to find objects within.

Output

• cloudModel: active model used for searching, represented as point cloud

• edgesModel: active model used for searching, represented as edge cloud. Available only in edge mode

• msehModel: active model used for searching, represented as mesh. Available only when the model is defined by mesh

• resultPoses: a vector of pose representing the result of search

• success: a field indicating whether the search is successful (at least one position found)