Remove All Overlapping Poses

Function Description

Calculates the distance between each pair of input poses, and filters out adjacent poses whose distance is less than the set threshold.

Use Cases

General-purpose pose filtering step, usually used to filter out unqualified poses after the 3D Fine Matching step.

Inputs

Original Poses (Required): Pose list to be filtered.
Original Pose Labels (Optional): Label list corresponding to the original poses.
Confidences (Optional): Confidence list corresponding to the original poses.

Outputs

Processed Poses: Filtered pose list.
Processed Pose Labels: Label list corresponding to the filtered poses.
Confidences: Confidence list corresponding to the filtered poses.

Parameters

Visualization Settings

Show Point Cloud in Selected Frame

Supports displaying poses in camera/robot reference frame.

When debug output is enabled, poses are displayed in the selected coordinate system.
Show Pose Type
- After: Displays only input poses
- Before: Displays only output poses
- All: Displays both output and input poses

Threshold Settings

Minimum Acceptable Distance from Other Poses

When the distance between two poses is less than this threshold, both are filtered out.