Point Cloud Shape Detector

Function

Detect and output point clouds of a plane or cylindrical shape; the shape can be selected in the Step Parameters.

Sample Scenario

Usually used to detect objects with flat and cylindrical shapes.

For calculating the pick points of cylinder point clouds, this Step can be followed by the Step Calc Cylinder Poses or the Step Adjust Poses by Offsets.

Input and Output

Parameters of Input and Output

Cloud(Normal)[]

[Input]inputted clouds

StringList-

[Input]the labels of inputted clouds

DoubleList-

[Input]the confidence of clouds

Cloud(Normal)[]

[Output]detected clouds of primitive shapes

ShapeInfoList

[Output]information of detected shapes

StringList

[Output]the labels of corresponding outputted clouds

DoubleList

[Output]confidence of corresponding clouds

Parameters

Shape Type

Instruction: This parameter is used to choose the target shape type, plane, cylinder and sphere included.

Default Value：plane

Suggested Value：To set according to the actual scenarios.

Detection Property

detector

Instruction：This parameter is used to choose which kind of detector used in the detection process, ALGO1 and ALGO2 included.

Default Value：ALGO1

Suggested Value：ALGO1

normalDeviation

Instruction：This parameter is used to set the upper limit of the angle difference(in °) between the normal of points in the image and the normal of projected theoretically corresponding standard shape.

Default Value：30

Suggested Value：To set according to the actual scenarios.

epsilon

Instruction: This parameter is the upper limit(in m) of the acceptable range of the point cloud fluctuation error.

Default Value：0.0050.

Suggested Value：[0.0030,0.0050]

clusterEpsilon

Instruction: This parameter is the lower limit(in m) of the interval of point cloud connectivity judgement.

Default Value: 0.0050

Suggested Value: To set according to the actual scenarios.

cloudResolution

Instruction: This parameter is used to control the number and intensity of points. Greater number and intensity correaponds to higher accuracy and longer computing time.

Default Value: 0.0050

Suggested Value: Usually twice the value of clusterEpsilon.

candidateTopNum

Instruction: This parameter determines the number of final outputted result for every point cloud.

Default Value: 1

Suggested Value: To set according to the actual scenarios.

sortBySize

Instruction: This parameter decides whether to sort the final result according to the size of point cloud or not.

Default Value: True

Suggested Value: To set according to the actual scenarios.

successProbability

Instruction: This parameter is used to adjust the success rate of detection.

Default Value: 0.99000

Suggested Value: To set according to the actual scenarios.

Candidates Filter

minCoverageRatio

Instruction：This parameter is used to set the lower limit of the ratio between the detected points belonging to one shape and the total number of points with shape labels.

Default Value：0.1000

Suggested Value：To set according to the actual scenarios.

minMeanDistError

Instruction：This parameter is used to set the lower limit of the mean distance deviation(in m) between real points and the points of corresponding detected theoretical shape.

Default Value：0.0100

Suggested Value：To set according to the actual scenarios.

minMeanAmgleError

Instruction: This parameter is used to set the lower limit of the mean angle deviation(in °) between real points and the points of corresponding detected theoretical shape.

Default Value：45.0000

Suggested Value：To set according to the actual scenarios.

Cylinder Property

minRadius

Instruction：This parameter is used to set the lower limit of the cylinder(in m).

Default Value：0.0100

Suggested Value：To set according to the actual scenarios.

MaxRadius

Instruction：This parameter is used to set the upper limit of the cylinder(in m).

Default Value：0.1000

Suggested Value：To set according to the actual scenarios.

ifOptimizeCylinderCoefficients

Instruction: This parameter decides whether to optimize the shape paramaters of cylinder, center and axis included.

Default Value: False

Suggested Value:

List of Values: True,False