Count

Limits the number of initial pose hypotheses to be considered for refinement to the n best hypotheses found. When additionally specifying Hypothesis/Score both limits apply, which might also result in fewer hypotheses than specified here.

Limiting the hypothesis count will reduce the runtime of cmdPartFinder. Allowing to check more hypotheses will discover parts on more places of the point cloud.

Note

Allowing to check more hypotheses will also increase the ability of PartFinder to correctly identify and distinguish similar part poses. If multiple overlapping, good hypotheses of the same part but different orientation are found in one place, then all overlapping hypotheses will be judged using the CoverageDistanceThreshold. The hypothesis with best coverage score will then be forwarded to the refinement step.

The actual number of hypotheses generated is indicated in the Hypothesis/Count result node.

Format

Boolean

When set to true, the output dot positions are given in rectified image coordinates.

Default

20000