Remove Overlapped Objects (Lite)
Usage Scenario
This Step is usually used after 3D Fine Matching Lite to remove overlapped objects that are not suitable for picking.
Parameter Description
- Parameter Tuning Level
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Parameter description: This parameter is used to select the tuning level of the parameters. The parameters in different tuning levels are different.
Value list: Basic, Advanced
Object Model Type
- Object Model Type
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Parameter description: This parameter is used to select the type of the object’s point cloud model.
Value list: Surface model, Edge model
Instruction: Select the type of the point cloud model according to the actual requirement. If Edge model is selected, please input the scene point cloud that represents the entire surface of the object instead of the extracted edge point cloud.
Threshold Setting
- Overlap Ratio Threshold
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Description: The threshold of the overlap ratio between the object and other objects. If the overlap ratio is above this value, the object will be considered overlapped.
Default value: 30%
Advanced Settings
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The parameters under Advanced Settings will only appear when the Parameter Tuning Level is set to Advanced. |
- Method to Generate Pixel Size
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Description: When the overlap ratio is calculated based on the 2D orthographic projection of the object point cloud, select the method to generate the size per pixel on the projected 2D image.
Value list: Auto, Manual
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Auto: Automatically generate the size per pixel on the projected 2D image.
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Manual: Set the Pixel Size manually.
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If the “Method to Generate Pixel Size” is set to “Auto”, the input point clouds must belong to the same object type. This feature does not support input point clouds of different object types. If the input point clouds belong to different object types, please adjust the “Method to Generate Pixel Size” to “Manual”. |
- Pixel Size
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Description: Set the pixel size in millimeters.
Default value: 2.5 mm
It is recommended to set the “Pixel Size” the same as the “Sampling Interval” when making the point cloud model. If the value is set too large, the accuracy of the calculated overlap ratio may be reduced. If the value is set too small, the calculated overlap ratio may be lower.
- Range of Scene Point Removal around Object
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Within this range, points in the scene point cloud around the object will be removed, and the rest scene point cloud will be involved in the overlap detection. The unit is millimeters.
Default value: 3 mm
- Visualization Options
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Description: This parameter is used to select the item that you want to visualize.
Value list:
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Filtered result: The scene point cloud is displayed in white, overlapped objects with overlap ratios above the threshold are displayed in red, and objects that are not overlapped are displayed in blue or green.
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Object projection image: Object 2D image after the projection.
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Background depth map without objects: The depth map of the background after objects are removed.
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Bounding box point cloud of edge model: Bounding box point cloud of the object’s edge model.
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