Extract 3D Points in 3D ROI

Function

Set a Region of Interest (ROI) in 3D space, and the points within the region will be extracted and points outside the region will be eliminated.

Sample Scenario

This Step enables to extract point cloud of the target object and avoid interference from background and outliers.

Input and Output

Parameter Descriptions

Parameter		Description
3D ROI Settinggs	Set 3D ROI	Set an ROI in the 3D space
Input Cloud Coordinate Type	Robot Coordinate	Change the reference frame in which the input point clouds are
	Camera Coordinate
Empty Status Settings	Min Points Number in 3D ROI	Adjust the minimum number of the points extracted in the 3D ROI
	Send Empty Status of Points in 3D ROI	Select to send the empty status of points in 3D ROI

Parameter Tuning

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.

3D ROI Settinggs

3D ROI

Instruction: Click Set 3D ROI to open the Set ROI window, as shown below. Please refer to Instructions for Setting 3D ROI for detailed instructions.

Input Cloud Coordinate Type

Default setting: Camera Coordinate

Options: Camera Coordinate, Robot Coordinate

Instruction: Change the reference frame in which the input point clouds are. The figure below on the top shows the input point cloud in the camera reference frame, and the figure at the bottom shows the input point cloud in the robot reference frame.

Empty Status Settings

Min Points Number in 3D ROI

Default setting: 0

Description: Adjust the minimum number of the points extracted in the 3D ROI. If the number of points extracted in the 3D ROI is less than this value, no point cloud will be returned.

Send Empty Status of Points in 3D ROI

Default setting: Select

Instruction: Select to send the empty status of points in 3D ROI. By default, if the number of points in the 3D ROI is less than the set value of Min Points Number in 3D ROI, a mesage as shown below will appear in the Step.

If this option is not selected, no warning message will appear in the Step.