ObjectRefinementParameters

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..

int, default: {5} JSON Type: int +Requirement: Must be larger than 0. Number of iterations for the 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.

int, default: {2} JSON Type: int +Requirement: Must be larger than 0. Set the rate of scene points to be used for the 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.

float, default: \{0.1f\} JSON Type: float +Requirement: Must be larger than 0.0. Set the distance threshold for the 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.

std::vector< std::array< double, 6 > > JSON Type: array of array of double Set initial poses to be subsequently refined

bool, default: {true} JSON Type: bool Flag to check if the detected (refined) pose is within limits (10% of the objects size and 15 degrees of the original rotation) of the initial pose. It should not be necessary to use this option in an production environment, however it is useful for debugging purposes or to see why objects might be filtered out during setup.

bool, default: {false} JSON Type: bool Flag to only return the refined pose with best score