Definition of search parameters. More...

#include <cvb/dnc/search_parameters.hpp>

Public Member Functions
	SearchParameters ()=default
	Default search parameters. More...

double	HypothesesThreshold () const noexcept
	Get minimum feature score for hypotheses generation. More...

void	SetHypothesesThreshold (double value)
	Set minimum feature score for hypotheses generation. More...

int	DerivativePatchSize () const noexcept
	Get smoothing area in pixels for gradient and normal calculation. More...

void	SetDerivativePatchSize (int value)
	Set smoothing area in pixels for gradient and normal calculation. More...

double	IndifferentRadius () const noexcept
	Get fraction of template size which accounts for a single object. More...

void	SetIndifferentRadius (double value)
	Set fraction of template size which accounts for a single object. More...

int	PartsToFind () const noexcept
	Get the maximum number of objects to find. More...

void	SetPartsToFind (int value)
	Set the maximum number of objects to find. More...

bool	RawResultsOnly () const noexcept
	Get the raw results flag. More...

void	SetRawResultsOnly (bool value) noexcept
	Set the raw results flag. More...

int	ICPShrink () const noexcept
	Get the subsample factor for ICP. More...

void	SetICPShrink (int value)
	Set the subsample factor for ICP. More...

int	ICPMaxIterations () const noexcept
	Get the maximum number of iterations of the ICP algorithm. More...

void	SetICPMaxIterations (int value)
	Set the maximum number of iterations of the ICP algorithm. More...

double	PrecisionThreshold () const noexcept
	Get precision threshold. More...

void	SetPrecisionThreshold (double value)
	Set precision threshold. More...

double	MinCoverage () const noexcept
	Get minimum coverage. More...

void	SetMinCoverage (double value)
	Set minimum coverage. More...

double	MaxOcclusion () const noexcept
	Get maximum occlusion. More...

void	SetMaxOcclusion (double value)
	Set maximum occlusion. More...

double	MaxInconsistency () const noexcept
	Get maximum inconsistency. More...

void	SetMaxInconsistency (double value)
	Set maximum inconsistency. More...

double	MinScore () const noexcept
	Get minimum score. More...

void	SetMinScore (double value)
	Set minimum score. More...

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.

Examples: DNC/CppDncConsole.

Constructor & Destructor Documentation

◆ SearchParameters()

SearchParameters ( )

default

Default search parameters.

Exceptions

Does	not throw any exception.

Member Function Documentation

◆ DerivativePatchSize()

int DerivativePatchSize ( ) const

inlinenoexcept

Get smoothing area in pixels for gradient and normal calculation.

Returns: The patch size.

Exceptions

Does	not throw any exception.

The value should be odd. Typical values are in the range 3..9. The minimum value is 3.

◆ HypothesesThreshold()

double HypothesesThreshold ( ) const

inlinenoexcept

Get minimum feature score for hypotheses generation.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ ICPMaxIterations()

int ICPMaxIterations ( ) const

inlinenoexcept

Get the maximum number of iterations of the ICP algorithm.

Returns: The number of iterations.

Exceptions

Does	not throw any exception.

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.

◆ ICPShrink()

int ICPShrink ( ) const

inlinenoexcept

Get the subsample factor for ICP.

Returns: The subsample factor.

Exceptions

Does	not throw any exception.

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.

◆ IndifferentRadius()

double IndifferentRadius ( ) const

inlinenoexcept

Get fraction of template size which accounts for a single object.

Returns: The indifferent radius.

Exceptions

Does	not throw any exception.

The minimum value is 0.5.

◆ MaxInconsistency()

double MaxInconsistency ( ) const

inlinenoexcept

Get maximum inconsistency.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ MaxOcclusion()

double MaxOcclusion ( ) const

inlinenoexcept

Get maximum occlusion.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ MinCoverage()

double MinCoverage ( ) const

inlinenoexcept

Get minimum coverage.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ MinScore()

double MinScore ( ) const

inlinenoexcept

Get minimum score.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ PartsToFind()

int PartsToFind ( ) const

inlinenoexcept

Get the maximum number of objects to find.

Returns: The number of parts to find.

Exceptions

Does	not throw any exception.

A value of zero means that all objects should be found.

◆ PrecisionThreshold()

double PrecisionThreshold ( ) const

inlinenoexcept

Get precision threshold.

Returns: The threshold.

Exceptions

Does	not throw any exception.

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.

◆ RawResultsOnly()

bool RawResultsOnly ( ) const

inlinenoexcept

Get the raw results flag.

Returns: True if set on, false otherwise.

Exceptions

Does	not throw any exception.

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.

◆ SetDerivativePatchSize()

void SetDerivativePatchSize ( int value )

inline

Set smoothing area in pixels for gradient and normal calculation.

Parameters

[in] value The patch size.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetHypothesesThreshold()

void SetHypothesesThreshold ( double value )

inline

Set minimum feature score for hypotheses generation.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetICPMaxIterations()

void SetICPMaxIterations ( int value )

inline

Set the maximum number of iterations of the ICP algorithm.

Parameters

[in] value The number of iterations.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetICPShrink()

void SetICPShrink ( int value )

inline

Set the subsample factor for ICP.

Parameters

[in] value The subsample factor.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetIndifferentRadius()

void SetIndifferentRadius ( double value )

inline

Set fraction of template size which accounts for a single object.

Parameters

[in] value The indifferent radius.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetMaxInconsistency()

void SetMaxInconsistency ( double value )

inline

Set maximum inconsistency.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetMaxOcclusion()

void SetMaxOcclusion ( double value )

inline

Set maximum occlusion.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetMinCoverage()

void SetMinCoverage ( double value )

inline

Set minimum coverage.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetMinScore()

void SetMinScore ( double value )

inline

Set minimum score.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetPartsToFind()

void SetPartsToFind ( int value )

inline

Set the maximum number of objects to find.

Parameters

[in] value The number of parts to find.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetPrecisionThreshold()

void SetPrecisionThreshold ( double value )

inline

Set precision threshold.

Parameters

[in] value The threshold.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

◆ SetRawResultsOnly()

void SetRawResultsOnly ( bool value )

inlinenoexcept

Set the raw results flag.

Parameters

[in] value True to set on, false otherwise.

Exceptions

Does	not throw any exception.

Examples: DNC/CppDncConsole.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SearchParameters()

Member Function Documentation

◆ DerivativePatchSize()

◆ HypothesesThreshold()

◆ ICPMaxIterations()

◆ ICPShrink()

◆ IndifferentRadius()

◆ MaxInconsistency()

◆ MaxOcclusion()

◆ MinCoverage()

◆ MinScore()

◆ PartsToFind()

◆ PrecisionThreshold()

◆ RawResultsOnly()

◆ SetDerivativePatchSize()

◆ SetHypothesesThreshold()

◆ SetICPMaxIterations()

◆ SetICPShrink()

◆ SetIndifferentRadius()

◆ SetMaxInconsistency()

◆ SetMaxOcclusion()

◆ SetMinCoverage()

◆ SetMinScore()

◆ SetPartsToFind()

◆ SetPrecisionThreshold()

◆ SetRawResultsOnly()