Get Highest-Layer Points

Description

This step is used to get the points in highest layer along the specified direction.

Parameters of Input and Output

Could(Normal)[]

[Input]one inputted point cloud.

PoseList-

[Input]the pose of the cloud

Cloud(Normal)

[Output]the highest point along the reference direction

Parameters

reference direction

Instruction：This parameter is used to select the reference direction, X, Y and Z included.

Default Value：x=0;y=0;z=1.0。

Suggested Value：To set according to the actual scenarios.

Layer property

onlyGetHighestOne

Instruction：This parameter decides whether to only get the highest point along the specified direction or not.

Default Value：False

Suggested Value：To set according to the actual scenarios.

List of Values: True, False

LayerHeight

Instruction：This parameter is used to set the height of every layer(in m).

Default Value：0.1

Suggested Value：To set according to the actual scenarios.

layerDiffTolerance

Instruction:This parameter is used to set the upper limit of the height tolerance(in m) between the highest layer and other layers. Tolerance equals the multiplication of ‘LayerHeight’ and ‘layerDiffTolerance’. If the height differene is less than the parameter, they belong to the same layer(the highest layer).

Default Value：1.0

Suggested Value：To set according to the actual scenarios.

useInputPoseZdir

Instruction: This parameter decides whether to use Z direction of the inputted pose as the reference direction or not. If the parameter is ‘True’, ‘reference direction’ is not valid anymore.

Default Value: False

Suggested Value: To set according to the actual scenarios.

List of Values: True, False