Detection3DSettings< OBJECT_FIT_METHOD::RANSAC_CYLINDER_FIT >

3D detection

Perform a fit with a cylinder. This detection method should be used if we observe parts of a cylinder. The object coordinate system is positioned in the cylinder center, with the z-axis being the main axis. The height of the cylinder is limited by the points used for the fit.

Member Functions

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

Member Variables

normalSearchRadius: float, default: \{0.01\} JSON Type: float +Requirement: Must be greater than zero. The RANSAC cylinder fit requires the computation of normals. This value determines the radius used for normal computation for each point of the cloud.

radiusMin: float, default: \{0.01\} JSON Type: float +Requirement: Must be greater than zero and less or equal to radiusMax. Minimum cylinder radius.

radiusMax: float, default: \{0.50\} JSON Type: float +Requirement: Must be greater than zero and greater or equal to radiusMin. Maximum cylinder radius.

initialAxis: Eigen::Vector3f, default: \{1.0f, 0.0f, 0.0f\} JSON Type: array +Requirement: Must have three elements. Norm must not be zero. Initial guess of the cylinder main axis (in camera coordinates).

epsAngleDeg: float, default: \{90.0\} JSON Type: float +Requirement: Must be greater or equal to zero. Maximum angular deviation of the main axis from the initial guess initialAxis.

distanceThreshold: float, default: \{0.01\} JSON Type: float +Requirement: Must be greater than zero. Maximum distance of a point to the cylinder to be considered an inlier.

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.

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.

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>.