---
title: "Detection3DSettings< OBJECT_FIT_METHOD::RANSAC_CYLINDER_FIT >"
product: "LumiScan VGR"
component: "lumiscan-vgr-de"
version: "1.8.4"
display_version: "1.8.4.6"
latest_version: true
language: "de"
url: "https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-ransac-cylinder-fit.html"
---

# Detection3DSettings< OBJECT_FIT_METHOD::RANSAC_CYLINDER_FIT > – LumiScan VGR

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

**Tabelle 1. OBJECT_FIT_METHOD**

| Value | Description |
| --- | --- |
| `PLANE_FIT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::PLANE_FIT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-plane-fit.html). |
| `RANSAC_PLANE_FIT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::RANSAC_PLANE_FIT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-ransac-plane-fit.html). |
| `MIXED_PLANE_FIT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::MIXED_PLANE_FIT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-mixed-plane-fit.html). |
| `LINE_FIT_LONG_AXIS` | See [Detection3DSettings\<OBJECT_FIT_METHOD::LINE_FIT_LONG_AXIS>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-line-fit-long-axis.html). |
| `GRIP_FROM_ENVIRONMENT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::GRIP_FROM_ENVIRONMENT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-grip-from-environment.html). |
| `RANSAC_CYLINDER_FIT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::RANSAC_CYLINDER_FIT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-ransac-cylinder-fit.html#). |
| `OBJECT_MATCHING` | See [Detection3DSettings\<OBJECT_FIT_METHOD::OBJECT_MATCHING>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-object-matching.html). |
| `OBJECT_REFINEMENT` | See [Detection3DSettings\<OBJECT_FIT_METHOD::OBJECT_REFINEMENT>](https://docs.hdvisionsystems.com/de/lumiscan-vgr-de/1.8.4/api/settings/detection-3d-settings-object-fit-method-object-refinement.html). |