ObjectDetectionParameters
(no description)
Member Variables
relativeSamplingDistance-
float, default:\{0.05f\}JSON Type: float +Requirement: Must be in (0, 1). Determines the minimum distance between points on the model relative to the model diameter during sampling.
keyPointFraction-
float, default:\{0.2f\}JSON Type: float +Requirement: Must be in (0, 1]. Determines the fraction of sampled scene points to be used as key points for detection..
minScore-
float, default:\{0.2f\}JSON Type: float +Requirement: Must be larger than 0.0. Determines the minimum score a detected object must have in order to be accepted..
sceneNormalComputation-
OBJECT_MATCHING_NORMAL_MODE, default:\{OBJECT_MATCHING_NORMAL_MODE::MLS\}JSON Type: string +Requirement: Must be a #OBJECT_MATCHING_NORMAL_MODE. Determines the mode for the scene normal computation.
sparsePoseRefinement-
bool, default:{true}JSON Type: bool Enables or disables the sparse pose refinement..
densePoseRefinement-
bool, default:{true}JSON Type: bool Enables or disables the dense pose refinement.
densePoseRefinementSteps-
int, default:{5}JSON Type: int +Requirement: Must be larger than 0. Number of iterations for the dense pose refinement. Increasing the number of iteration leads to a more accurate pose at the expense of runtime. However, once convergence is reached, the accuracy can no longer be increased, even if the number of steps is increased.
densePoseRefinementSubsampling-
int, default:{2}JSON Type: int +Requirement: Must be larger than 0. Set the rate of scene points to be used for the dense pose refinement. For example, if this value is set to 5, every 5th point from the scene is used for pose refinement. This parameter allows an easy tradeoff between speed and accuracy of the pose refinement: Increasing the value leads to less points being used and in turn to a faster but less accurate pose refinement. Decreasing the value has the inverse effect.
densePoseRefinementDistanceThreshold-
float, default:\{0.1f\}JSON Type: float +Requirement: Must be larger than 0.0. Set the distance threshold for dense pose refinement relative to the diameter of the surface model. Only scene points that are closer to the object than this distance are used for the optimization. Scene points further away are ignored.
maxNumMatches-
int, default:{10}JSON Type: int +Requirement: Must be larger than 0. Maximum number of matches to be considered during detection. Increasing this parameter can result in higher detection times.