Classify Point Clouds by Dimensions

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Function

This Step judges whether the input point cloud is eligible based on the reference dimensions. If the deviation between the dimensions of an input point cloud and the reference dimensions is within the threshold range, the point cloud is eligible; otherwise, it is not eligible.

function description

Usage Scenario

This Step is usually used in sack depalletizing scenarios. This Step can determine whether the sack point clouds from previous Steps are eligible, acting as an error-proofing mechanism to filter out inaccurate recognitions from deep learning.

This Step is usually used with such Steps as Apply Masks to Point Cloud and Get Highest Layer Clouds.

Input and Output

Input

Input port Data type Description

Point Clouds

PointCloud/XYZNormal[]

Point clouds input to this port will be judged.

Reference Dimensions

Size3D[]

Reference dimensions of the object.

Shape Information

Shape3D[] -

List of shape information corresponding to each point cloud.

Labels

String[] -

The labels of the input clouds.

Scores

Number[] -

Confidence list for input point cloud list.

Point Cloud Heights

Number[] -

The heights of the input clouds. If this port is not activated, the height of the point clouds will equal the Z value of the point cloud center minus the reference height.

Output

Output port Data type Description

Qualified Point Clouds

PointCloud/XYZNormal[]

Qualified point cloud.

Unqualified Point Clouds

PointCloud/XYZNormal[]

Unqualified point cloud.

Shape Information

Shape3D[]

The shape information of the qualified point clouds.

Labels

String[]

The labels of the qualified point clouds.

Scores

Number[]

The scores of the qualified point clouds.

Shape Information

Shape3D[]

The shape information of the unqualified point clouds.

Labels

String[]

The labels of the unqualified point clouds.

Scores

Number[]

The scores of the unqualified point clouds.

Visualization Point Cloud

PointCloud/XYZRGB

Color point cloud for visualization.

Parameter Description

Length Difference Threshold Settings

Length Difference = Point Cloud Length - Reference Length

Deviation Ratio = Length Difference / Reference Length
Parameter Description

Lower/Upper Ratio Threshold

Description: This parameter is used to set the allowable deviation ratio of the point cloud length relative to the reference length. If the deviation ratio falls between the Lower Ratio Threshold and Upper Ratio Threshold, the point cloud is qualified; otherwise, it is unqualified.

Default value: -0.2500/0.2500

Value range: -1–0/0–1

Suggestion: Set the parameter according to your actual requirements. The larger the absolute value of the thresholds, the greater the allowable variation in point cloud dimensions.

For ease of understanding, the equivalent length range corresponding to the deviation ratio is shown below:

The point cloud length should satisfy (1 + Lower Ratio Threshold) * Reference length < Point cloud length < (1 + Upper Ratio Threshold) * Reference length.

For example, if the reference dimensions input to this Step are [1, 0.5, 0.1] (unit: m), and Lower/Upper Ratio Threshold is -0.25 / 0.25, then the reference length is 1 m, and the qualified range of point cloud length is 0.75 m to 1.25 m.

Width Difference Threshold Settings

Width Difference = Point Cloud Width - Reference Width

Deviation Ratio = Width Difference / Reference Length
Parameter Description

Lower/Upper Ratio Threshold

Description: This parameter is used to set the allowable deviation ratio of the point cloud width relative to the reference width. If the deviation ratio falls between the Lower Ratio Threshold and Upper Ratio Threshold, the point cloud is qualified; otherwise, it is unqualified.

Default value: -0.2500/0.2500

Value range: -1–0/0–1

Suggestion: Set the parameter according to your actual requirements. The larger the absolute value of the thresholds, the greater the allowable variation in point cloud dimensions.

For ease of understanding, the equivalent width range corresponding to the deviation ratio is shown below:

The point cloud width should satisfy (1 + Lower Ratio Threshold) * Reference width < Point cloud width < (1 + Upper Ratio Threshold) * Reference width.

For example, if the reference dimensions input to this Step are [1, 0.5, 0.1] (unit: m), and Lower/Upper Ratio Threshold is -0.25 / 0.25, then the reference width is 0.5 m, and the qualified range of point cloud width is 0.375 m to 0.625 m.

Height Difference Threshold Settings

Height Difference = Point Cloud Height - Reference Height

Deviation Ratio = Height Difference / Reference Height
Parameter Description

Lower/Upper Ratio Threshold

Description: This parameter is used to set the allowable deviation ratio of the point cloud height relative to the reference height. If the deviation ratio falls between the Lower Ratio Threshold and Upper Ratio Threshold, the point cloud is qualified; otherwise, it is unqualified.
Default value: -100.0000/100.0000
Suggestion: Set the parameter according to your actual requirements. The larger the absolute value of the thresholds, the greater the allowable variation in point cloud dimensions.

Reference Height

Description: This parameter is used to set the reference height (in mm). This parameter only takes effect when the “Point Cloud Heights” port is not connected. If the input point cloud height is empty, the point cloud height = Z value of the point cloud pose - reference height.

Default value: 1000.000

Suggestion: Set the parameter according to your actual requirements.

For ease of understanding, the equivalent height range corresponding to the deviation ratio is shown below:

The point cloud height should satisfy (1 + Lower Ratio Threshold) * Reference height < Point cloud height < (1 + Upper Ratio Threshold) * Reference height.

For example, if the reference dimensions input to this Step are [1, 0.5, 0.1] (unit: m), and Lower/Upper Ratio Threshold is -100 / 100, then the reference height is 0.1 m, and the qualified range of point cloud height is -9.9 m to 10.1 m. Note: The reference height mentioned here refers to the height component in reference dimensions. The Reference Height parameter is used only to calculate point cloud height when the input point cloud height is empty.

Aspect Ratio Settings

Aspect Ratio = Point Cloud Length/Point Cloud Width
Parameter Description

Aspect Ratio Threshold

Description: This parameter is used to set the acceptable range for the aspect ratio of the point cloud.

Default value: 1000000.0000

Suggestion: Set the parameter according to your actual requirements.

For ease of understanding, the equivalent aspect ratio range corresponding to the threshold is shown below:

The point cloud aspect ratio should satisfy (1 - Aspect Ratio Threshold) * Reference aspect ratio < Aspect ratio < (1 + Aspect Ratio Threshold) * Reference aspect ratio.

For example, if the reference dimensions input to this Step are [1, 0.5, 0.1] (unit: m), and Aspect Ratio Threshold is 10, then the reference aspect ratio is 1 / 0.5 = 2, and the qualified range of point cloud aspect ratio is -18 to 22.

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