Extract 3D Points in Cylinder

Function

Extract point clouds inside specified cylinders, the point clouds outside the cylinders will be discarded.

Sample Scenario

A general point cloud extraction Step. No fixed usage scenarios.

Input and Output

Parameters

Shape Type

Default Value: Ring

List of Values: Cylinder, Ring, Sector

Instruction: 3D points inside this specified shape will be extracted.

Z Direction Properties

Min Z Value

Default Value: -0.1 m

Instruction: This parameter is used to set the lower limit of distance threshold (in m) along Z axis of the reference coordinate, which corresponds to Z- in Figure 1.

Max Z Value

Default Value: 0.1 m

Instruction: This parameter is used to set the upper limit of distance threshold (in m) along Z axis of the reference coordinate, which corresponds to Z+ in Figure 1.

Ring and Sector Radius Properties

Inner Radius

Default Value: 0.05 m

Instruction: The minimum distance on XY-plane, which corresponds to R1 in Figure 1. To obtain a solid cylinder, this parameter needs to be set as 0 .

Outer Radius

Default Value: 0.1 m

Instruction: The maximum distance on XY-plane, which corresponds to R2 in Figure 1.

Sector Angle Properties

The following two parameters appear after choosing Sector in Shape Type, and they are used to configure the shape of the sector.

Start Angle

Default Value: 180°

Instruction: The start angle of the sector on XY-plane.

End Angle

Default Value: 180°

Instruction: The end angle of the sector on XY-plane.

Usage Settings for Input Clouds

Check If Object Inside Cylinder by Its Point Center

Default Value: False

List of Values: True, False

Instruction: If checked, the center of the object point cloud is used to check if it is inside the cylinder.

Input Point Cloud Usage

Default Value: All

List of Values: All, FirstOnly

Instruction: This parameter decides whether to only use the first input point cloud.