SearchParameters Struct Reference

Definition of search parameters. Search parameters strongly influence the search results. Likewise, they have great influence on the timing of a search operation. More...

Properties
double	HypothesesThreshold [get, set]
	Minimum feature score for hypotheses generation. The value controls which areas of the depth image are used as candidates for closer examination. Typical values are in the range between 0.9 ... 1.0. The minimum value is 0.5.
int	DerivativePatchSize [get, set]
	Smoothing area in pixels for gradient and normal calculation. The value should be odd. Typical values are in the range 3..9. The minimum value is 3.
double	IndifferentRadius [get, set]
	Fraction of template size which accounts for a single object. The minimum value is 0.5.
int	PartsToFind [get, set]
	Maximum number of objects to find. A value of zero means that all objects should be found.
bool	RawResultsOnly [get, set]
	If this flag is set, candidate locations are considered as hits without further investigation of these candidates. In this case, only parameters HypothesesThreshold, PartsToFind and MinScore are decisive for finding objects.
int	ICPShrink [get, set]
	Subsample factor for ICP. The minimum allowed value of 1 means no reduction(highest accuracy). With increasing reduction, the processing speed increases, but at the same time the accuracy of the results also decrease.Typical values are in a range 1..4. The minimum value is 1.
int	ICPMaxIterations [get, set]
	The value specifies the maximum number of iterations of the ICP algorithm. Increasing the value may increase the accuracy of the result, while possibly increasing the processing time. A typical value is 10. The minimum value is 1.
double	PrecisionThreshold [get, set]
	This value determines which deviation is considered tolerable, inconsistent or occlusion. The value depends on the quality of the point cloud data. A typical value is 2 mm, the minimum allowed value is 0.
double	MinCoverage [get, set]
	This value is a threshold (0..1) that specifies the minimum required coverage of the model view by the point cloud data in order for the hit to be counted. A typical value may be 0.8. It is influenced by PrecisionThreshold.
double	MaxOcclusion [get, set]
	This value is a threshold (0..1) that specifies the maximum allowed part of the model view which is occluded by the point cloud data in order for the hit to be counted. Occlusion is defined to be point cloud data lying between the model and the sensor. A typical value may be 0.2. It is influenced by PrecisionThreshold.
double	MaxInconsistency [get, set]
	This value is a threshold (0..1) that specifies the maximum allowed part of the model view to be inconsistent with the point cloud data in order for the hit to be counted. Inconsistency is defined to be point cloud data which is beyond the model. A typical value may be 0.2. It is influenced by PrecisionThreshold.
double	MinScore [get, set]
	This value is a threshold (0..1) that determines whether the candidate is counted as a hit. For this, a hash similarity score between final model view and point cloud data must exceed this limit. A typical value may be 0.8.
static SearchParameters	Default [get]
	Default search parameters.

Detailed Description

Definition of search parameters. Search parameters strongly influence the search results. Likewise, they have great influence on the timing of a search operation.