Fit Rectangle to Surface Edge

Enable this option to use the intensity image to detect the edge of a rectangle when the target region is relatively flat and has distinct color differences.

When this option is selected, the Step uses intensity image data for edge detection and fitting. Otherwise, the Step uses depth map data by default.

Used to define the approximate position of the rectangular edge in the surface data. The system automatically generates a closed rectangular path in this region as a track line for the caliper placement.

The feature region should be slightly larger than the actual rectangular edge to ensure complete edge coverage. For more information on how to set and adjust the feature region(s), see Feature Region.

The distance between two caliper centers on a rectangular path.

Setting this parameter properly can make the calipers evenly distributed along the rectangular edges, thus obtaining more stable edge points.

The length direction of the caliper is perpendicular to the path direction of the rectangular.

Setting the caliper length appropriately ensures that the profile line fully crosses the rectangular edges, enabling stable edge point extraction.

The window size used to filter each profile line along its direction. After filtering, the profiles become smoother.

When a gap on a profile is less than or equal to the configured threshold, it is filled using the first valid point on the lower side of the gap. When the gap exceeds the threshold, it remains invalid.

When this option is selected, you must specify a fixed value to fill all invalid points on the profile.

Setting this parameter helps ensure the continuity of the profile data and avoid missed detections caused by invalid points.

The depth value used to fill invalid points in the profile.

This parameter only needs to be set when Include Null Points is selected.

The intensity value used to fill invalid points in the profile.

This parameter only needs to be set when both Use Intensity Image and Include Null Points are selected.

Defines the direction of depth or intensity value changes from the inside to the outside of the rectangle edge.

Value list: Rising, Falling, Rising or falling

Define the edge types to be retained in edge detection.

Value list: Best, First, Last

At the edge of the rectangle hole, the absolute value of depth change of adjacent data points on the profile must be greater than or equal to this threshold for edge points to be detected.

At the edge of the rectangle hole, the absolute intensity change between neighboring data points on the profile must be greater than or equal to this threshold to enable edge point detection.

Only needs to be set after Use Intensity Image is selected.

Once this parameter is selected, edge points will only be detected if the depth or intensity value between neighboring data points varies by at least the specified percentage of the maximum variation on the profile.

Only visible when Use Relative Threshold is selected.

This parameter specifies the lower limit of the relative variation relative to the maximum variation on the profile.

The maximum number of attempts the algorithm will make to fit an optimal plane. Iteration stops once this limit is reached.

The maximum allowed distance from detected edge points to the fitted rectangle. Edge points with a distance less than or equal to this threshold are considered inliers.

The lowest score for determining whether the fitted result is acceptable. The score equals the ratio of the number of inliers to the total number of edge points.

The algorithm takes the iteration result with the highest inlier ratio and compares its score against the set value. If the score is lower than this value, the fitting is judged as failed. This parameter is only used for result evaluation and will not affect the fitting process.