Point Cloud Filter

Function

Filter the input point clouds according to the set rules.

Usage Scenario

Usually used to filter point clouds based on the number of points (setting the Filter parameter to CloudCapacityFilter).

This Step belongs to an earlier version and cannot output Boolean results; please use Validate Point Clouds instead.

Input and Output

../../../../_images/input_output_58.png

Parameters

_filterType

Instruction: This parameter is used to select the filter type, CircleCloudsFilter, CloudCapacityFilter,RecCloudsFilter and SolidCloudsFilter included. | Default Value: CircleCloudsFilter | Suggested Value: To set according to the actual scenarios. | List of Values: CircleCloudsFilter, CloudCapacityFilter,RecCloudsFilter,SolidCloudsFilter

CircleCloudsFilter

‘CircleCloudsFilter’ could tranfer the 3D point clouds into 2D mask image to get the contour of the mask and calculate the circulariry and perimeter in order to filter out the point clouds that are not covered in the range.

contourRetrievalMode

Instruction: This parameter is used to select the contour retrieval mode and two kinds of mode are included:RETR_EXTERNAL and RETR_HULL.
Default Value: RECT_EXTERNAL
Suggested Value: To set according to the actual scenarios.

minAreaThreashold

Instruction: This parameter is the lower limit of the area of the circle clouds(in pixel).
Default Value: 100
Suggested Value: To set according to the actual scenarios.

maxAreaThreashold

Instruction: This parameter is the upper limit of the area of the circle clouds(in pixel).
Default Value: 1000
Suggested Value: To set according to the actual scenarios.

minCircularity

Instruction: This parameter is the lower limit of the circularity of the circle.
Default Value: 0.5
Suggested Value: To set according to the actual scenarios.

maxCircularity

Instruction: This parameter is the upper limit of the circularity of the circle.
Default Value: 1
Suggested Value: To set according to the actual scenarios.

minConvexity

Instruction: This parameter is the lower limit of the convexity of the circle.
Default Value: 0.8
Suggested Value: To set according to the actual scenarios.

maxConvexity

Instruction: This parameter is the upper limit of the convexity of the circle.
Default Value: 1
Suggested Value: To set according to the actual scenarios.

minInertia

Instruction: This parameter is the lower limit of the ratio between the length of short axis and the length of long axis .
Default Value: 1000
Suggested Value: To set according to the actual scenarios.

maxInertia

Instruction: This parameter is the upper limit of the ratio between the length of short axis and the length of long axis .
Default Value: 1000
Suggested Value: To set according to the actual scenarios.

CloudCapacityFilter

‘CloudCapacityFilter’ could filter out the point clouds based on the number of the point in the point clouds.

minPointsNum

Instruction: This parameter is the lower limit of the number of the point in the point clouds.
Default Value: 6000
Suggested Value: To set according to the actual scenarios.
Valid Range:(0, maxPointsNum)

maxPointsNum

Instruction: This parameter is the upper limit of the number of the point in the point clouds.
Default Value: 360000
Suggested Value: To set according to the actual scenarios.
Valid Range:(minPointsNum, ∞)

RecCloudsFilter

minRectangularity

Instruction: This parameter is the lower limit of the rectangularity of the rectangle.
Default Value: 0.9000
Suggested Value: To set according to the actual scenarios.

SolidCloudsFilter

ratio

Instruction: This parameter is the upper lower of the size ratio between the point cloud and the solid. | Default Value: 0.9 | Suggested Value: To set according to the actual scenarios. | Valid Range:(0, 1]

removeSolidCloud

Instruction: This parameter decides whether to filter out the solid point clouds or not. | Default Value: True | Suggested Value: To set according to the actual scenarios. | List of Values: True, False

useOrthogonalProj

Instruction: This parameter decides whether to calculate the mask along the main normal or not. | Default Value: True | Suggested Value: To set according to the actual scenarios. | List of Values: True, False

dilateSize

Instruction: This parameter is used to adjust the size of the structural elements(in pixel) during the dilating process and only valid when ‘filterType’ is ‘CircleCloudsFilter’or ‘CloudCapacityFilter’. | Default Value: 3 | Suggested Value: 3,5,7 | Valid Range:[1, ∞)

erodeSize

Instruction: This parameter is used to adjust the size of the structural elements(in pixel) during the eroding process and only valid when ‘filterType’ is ‘CircleCloudsFilter’or ‘CloudCapacityFilter’. | Default Value: 3 | Suggested Value: 3,5,7 | Valid Range:[1, ∞)