Suppress Neighboring Poses with Low Scores (NMS)¶

Function¶

Find the pose with the highest score within the set range, and filter out the poses with low scores in its vicinity according to the set threshold.

Usage Scenario¶

One of the methods for filtering poses. This Step belongs to an earlier version; the function has been integrated in 3D Coarse Matching, and it is recommended not to use this step.

Input and Output¶

../../../../../_images/input_output_60.png

Parameters¶

Parameters

searchRadiusNMS

Default Value: 0.05m

Instruction: Define the range of the local search. If it is larger, more poses are involved in the calculation, which may result in a longer processing time for later step.

scoreRatioThreshold

Default Value: 0.02

Instruction: When the pose score is less than the threshold, it is not considered.