Classification by Point Clouds’ Sizes

Function

Based on the reference dimensions, judge whether each of the input point clouds is qualified. If the deviation between the dimensions of an input point cloud and the reference dimensions is within the threshold range, the point cloud is eligible.

Sample Scenario

This Step is usually used in sack depalletizing. To avoid being affected by errors in deep learning sack recognition results, this Step is used to add an error-proofing mechanism to the 3D algorithms by determining whether the sack points from previous Steps are valid or not. This Step is usually used with Steps as Apply Masks to Point Cloud, Get Highest Layer Clouds, etc.

Input and Output

Parameters of Input and Output

Could(Normal)[]

[Input]the list of the inputted point clouds

Size3dList

[Input]the sizes used to classify the point clouds

ShapeInfoList-

[Input]the shape information of detected point clouds

StringList-

[Input]the labels of inputted point clouds

DoubleList-

[Input]the confidence of point clouds

DoubleList-

[Input]the height of point clouds

Could(Normal)[]

[Output]the point clouds with correct sizes

Cloud(Normal)[]

[Output]the point clouds with incorrect sizes

ShapeInfoList

[Output]the shape information of detected point clouds

StringList

[Output]the labels of the point clouds with correct sizes

DoubleList

[Output]the confidence of the point clouds with correct sizes

ShapeInfoList

[Output]the shape information of detected point clouds

StringList

[Output]the labels of the point clouds with incorrect sizes

DoubleList

[Output]the confidence of the point clouds with incorrect sizes

Parameters

length diff ratio thre

lengthDiffLowerRatioThre

Instruction：When the longer side of the real point cloud size is smaller than the longer side of the input specification size, this parameter will be used for the following calculation to determine whether the longer side meets the specifications: real size < (1 + lengthDiffLowerRatioThre)* inputted length.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

lengthDiffUpperRatioThre

Instruction：When the longer side of the real point cloud size is greater than the longer side of the input specification size, this parameter will be used for the following calculation to determine whether the longer side meets the specifications: real size < (1 + lengthDiffLowerRatioThre)* inputted length.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

width diff ratio thre

widthDiffLowerRatioThre

Instruction: When the shorter side of the real point cloud size is smaller than the shorter side of the input specification size, this parameter will be used for the following calculation to determine whether the shorter side meets the specifications: real size < (1 + widthDiffLowerRatioThre)* inputted width.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

widthDiffUpperRatioThre

Instruction: When the shorter side of the real point cloud size is greater than the shorter side of the input specification size, this parameter will be used for the following calculation to determine whether the shorter side meets the specifications: real size < (1 + widthDiffUpperRatioThre)* inputted width.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

height diff ratio thre

heightDiffLowerRatioThre

Instruction: When the height of the real point cloud size is smaller than the height of the input specification size, this parameter will be used for the following calculation to determine whether the height meets the specifications: real size < (1 + heightDiffLowerRatioThre)* inputted height.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

heightDiffUpperRatioThre

Instruction: When the height of the real point cloud size is greater than the height of the input specification size, this parameter will be used for the following calculation to determine whether the height meets the specifications: real size < (1 + heightDiffLowerRatioThre)* inputted height.

Default Value：0.2500

Suggested Value：To set according to the actual scenarios.

baseHeight

Instruction: This parameter is used to set the base height(in m).

Default Value：0.0000

Suggested Value：To set according to the actual scenarios.

aspect ratio thre

aspectRatioThre

Instruction: This parameter is used to set the difference between the aspect ratio of the point cloud size and the aspect ratio of the input specifications.

Default Value：1.0000

Suggested Value：To set according to the actual scenarios.