Invalidate Depth Pixels outside 3D ROI

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Function

Set a Region of Interest (ROI) in the depth image and set the pixel values outside the region to zero.

invalidate depth pixels outside 3d roi functional description

Usage Scenario

This Step can be used to extract a target area in the original depth image and therefore avoid interference from background and other regions. It is usually connected with Steps such as Segment Depth Map, Get Highest Layer Regions in Depth Map, and Merge Mask Images.

Input and Output

invalidate depth pixels outside 3d roi input and output

Parameter Description

3D ROI Settings

3D ROI

Description: This parameter is used to set 3D ROI.

Instruction: Click Set 3D ROI to open the Set ROI window, as shown below. For detailed settings, please refer to Instructions for Setting 3D ROI.

invalidate depth pixels outside 3d roi interface

After the depth ROI interception, the pixel values outside the region of the depth image’s interest will be set to zero. The figure below shows the input depth map.

invalidate depth pixels outside 3d roi before

The figure below shows the depth map after interception, where invalid information around the boxes is filtered out.

invalidate depth pixels outside 3d roi after

Threshold Setting

Min Point Count in ROI

Description: 3D ROI displays the threshold of the number of points in the middle. If the number of points is threshold, it will warn, as shown below.

invalidate depth pixels outside 3d roi warning

Instruction: The threshold can be set according to the point cloud requirement posed by actual engineering.

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