Detection3DSettings< OBJECT_FIT_METHOD::OBJECT_MATCHING >

3D detection

Perform a fit with the CAD model of the object. This detection method should be used if we have completely rigid objects that always match a CAD model.

Member Functions

virtual OBJECT_FIT_METHOD type() const override: JSON Type: string +Requirement: Must be OBJECT_FIT_METHOD::OBJECT_MATCHING. Type of the 3D detection.

Member Variables

cadPath: std::filesystem::path, default: \{""\} JSON Type: (optional) string +Requirement: Must be a path to a regular file. File path to the CAD file of the object used for the matching. Either cadPath or pointcloudPath need to be set. If both set point cloud path is used.

pointcloudPath: std::filesystem::path, default: \{""\} JSON Type: (optional) string +Requirement: Must be a path to a regular file. File path to the Pointcloud file of the object used for the matching. Either cadPath or pointcloudPath need to be set. If both set point cloud path is used.

trainingParameters: ModelTrainingParameters JSON Type: (optional) ModelTrainingParameters object Parameters used for training a model. All values of this object are optional as well.

detectionParameters: ObjectDetectionParameters JSON Type: (optional) ObjectDetectionParameters object Parameters used for detecting a model. All values of this object are optional as well.
maxNumObjects: std::optional< int >, default: {100} JSON Type: (optional) int UNIMPLEMENTED +Requirement: Must be greater than zero. Maximum number of objects that should be computed in the 3D detection pipeline.

[[-2]] roiPercentage:: float, default: \{0.8f\} JSON Type: float +Requirement: Must be greater than zero. Dilate 2D object detection results by this factor. The resulting area is used to determine all points that are considered for the geometric fit.

[[-3]] minNumPoints:: int, default: {50} JSON Type: (optional) int +Requirement: Must be greater than zero. Minimum number of points required for the geometric fit.

Enumerations

Table 1. OBJECT_FIT_METHOD
Value	Description
`PLANE_FIT`	See Detection3DSettings<OBJECT_FIT_METHOD::PLANE_FIT>.
`RANSAC_PLANE_FIT`	See Detection3DSettings<OBJECT_FIT_METHOD::RANSAC_PLANE_FIT>.
`MIXED_PLANE_FIT`	See Detection3DSettings<OBJECT_FIT_METHOD::MIXED_PLANE_FIT>.
`LINE_FIT_LONG_AXIS`	See Detection3DSettings<OBJECT_FIT_METHOD::LINE_FIT_LONG_AXIS>.
`GRIP_FROM_ENVIRONMENT`	See Detection3DSettings<OBJECT_FIT_METHOD::GRIP_FROM_ENVIRONMENT>.
`RANSAC_CYLINDER_FIT`	See Detection3DSettings<OBJECT_FIT_METHOD::RANSAC_CYLINDER_FIT>.
`OBJECT_MATCHING`	See Detection3DSettings<OBJECT_FIT_METHOD::OBJECT_MATCHING>.
`OBJECT_REFINEMENT`	See Detection3DSettings<OBJECT_FIT_METHOD::OBJECT_REFINEMENT>.