Remove Overlapped Objects

Function

Remove the point clouds of the overlapped objects according to user-defined rules.

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Sample Scenario

This Step is usually used after the Step 3D Fine Matching to filter the matched poses according to different needs and therefore the poses of overlapped objects can be removed. It is recommended to try the projection algorithm (ProjectionOfObjectIn2DBased) first.

Input and Output

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Parameters of Input and Output

PoseList[]

[Input]the calculated picking poses

Cloud(Normal)[]

[Input]the point clouds of model transformed by the calculated poses

DoubleList-

[Input]the confidence of the point clouds

StringList-

[Input]the labels of the corresponding point clouds

PoseList

[Output]the filtered poses

Cloud(Normal)[]

[Output]the point clouds of model transformed by the filtered poses

DoubleList-

[Output]the confidence of corresponding point clouds

StringList-

[Output]the labels of corresponding point clouds

Parameters

algoType

Instruction：This parameter is used to select the algorithms used in the process of removing overlapping objects,’UsingBoundingBox’ and ‘UsingOverlap’ included.
Default Value：UsingBoundingBox
Suggested Value：To set according to the actual scenarios.

overlap

overlapRatioThre

Instruction：This parameter is used to set the lower limit of the overlapping ratio threshold, If the overlapping ratio is greater than the limit, there exists overlapping objects.
Default Value：0.6000
Suggested Value：To set according to the actual scenarios.

resolution

leafsize

Instruction：This parameter is used to adjust the resolution of the point clouds bounding box(in m).
Default Value：0.0030
Suggested Value：To set according to the actual scenarios.

expand bounding box

Instruction：This parameter is used to set the expanding size of the bounding box in every direction.
Default Value：expandSizeRatioInX=1.0, expandSizeRatioInY=1.0, expandSizeRatioInZ=1.0.
Suggested Value：To set according to the actual scenarios.

maskClosingKernelSize

Instruction：This parameter is used to adjust the size of mask-closing kernel(in pixel).
Default Value：3
Suggested Value：To set according to the actual scenarios.

depthImgDilateKernelSize

Instruction：This parameter is used to adjust the size of dilating kernel of depth images(in pixel).
Default Value：4
Suggested Value：To set according to the actual scenarios.