Invalidate Depth Pixels Outside 3D ROI

Function

Set a Region of Interest (ROI) in the depth image and set the pixel values outside the region to zero.

Sample Scenario

This Step can be used to extract a target area in the original depth image and therefore avoid interferences from background and other regions. It is usually connected with Steps as Segment Depth Image, Get Highest Areas in Depth Image, Merge Mask Images, etc.

Input and Output

Preparation

Before setting a 3D ROI, please go to Project Assistant and select the data source of scene point cloud. For detailed settings, please refer to Scene Point Cloud.

Parameters

3D ROI Settings

3D ROI Name

Instruction：Click on the right side of the 3D ROI Name to enter the Set ROI window, as shown in Figure1. For detailed settings, please refer to Instructions for Setting 3D ROI.

Figure1 Set Target Area

Afetr intercepting the depth ROI, the pixel values outside the region of the depth image’s interest will be set to zero. Figure2 is the input image, and Figure3 is the output image.

Figure2 Input Image

Figure3 Output Image

Threshold Setting

Min Points in ROI

Instruction: 3D ROI displays the threshold of the number of points in the middle. If the number of points is threshold, it will warn, as shown in Figure 4. The actual information engineering can set the threshold for the point cloud threshold.

Figure4 Warning Message