Extract 3D Points in 3D ROI

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Function

Set a Region of Interest (ROI) in 3D space, and the points within the region will be extracted and points outside the region will be eliminated.

Usage Scenario

This Step enables to extract point cloud of the target object and avoid interference from background and outliers.

Input and Output

Input

Input port	Data type	Description
Point Cloud	PointCloud/XYZNormal[]	Original point cloud.

Input port

Data type

Description

Point Cloud

PointCloud/XYZNormal[]

Original point cloud.

Output

Output port	Data type	Description
Point Cloud in ROI	PointCloud/XYZNormal[]	Point cloud in ROI.
Flange Poses	Pose[]	Flange pose used in the Eye-in-Hand mode.

Output port

Data type

Description

Point Cloud in ROI

PointCloud/XYZNormal[]

Point cloud in ROI.

Flange Poses

Pose[]

Flange pose used in the Eye-in-Hand mode.

Parameter Description

Parameter	Description	Illustration
3D ROI Name	Instruction: Click the Open the editor button and set the 3D ROI in the “Set 3D ROI” window. For detailed instructions, please refer to Set 3D ROI.
Input Point Cloud Reference Frame	Default value: Camera Frame Options: Camera Frame, Robot Frame Instruction: Change the reference frame in which the input point clouds are. The figure on the right shows the input point cloud in the camera reference frame, and the figure on the second shows the input point cloud in the robot reference frame.
Min Point Count in 3D ROI	Default value: 0 Description: Adjust the minimum number of the points extracted in the 3D ROI. If the number of points extracted in the 3D ROI is less than this value, no point cloud will be returned.
Send Empty Status of Points in 3D ROI	Default value: Selected Instruction: Select to send the empty status of points in 3D ROI. By default, if the number of points in the 3D ROI is less than the set value of Min Points Number in 3D ROI, a message as shown above will appear in the Step. If this option is not selected, no warning message will appear in the Step.

Parameter

Description

Illustration

3D ROI Name

Instruction: Click the Open the editor button and set the 3D ROI in the “Set 3D ROI” window. For detailed instructions, please refer to Set 3D ROI.

extract 3d points in 3d roi pointcloud interface

Input Point Cloud Reference Frame

Default value: Camera Frame
Options: Camera Frame, Robot Frame
Instruction: Change the reference frame in which the input point clouds are. The figure on the right shows the input point cloud in the camera reference frame, and the figure on the second shows the input point cloud in the robot reference frame.

extract 3d points in 3d roi pointcloud compared

Min Point Count in 3D ROI

Default value: 0
Description: Adjust the minimum number of the points extracted in the 3D ROI. If the number of points extracted in the 3D ROI is less than this value, no point cloud will be returned.

Send Empty Status of Points in 3D ROI

Default value: Selected
Instruction: Select to send the empty status of points in 3D ROI. By default, if the number of points in the 3D ROI is less than the set value of Min Points Number in 3D ROI, a message as shown above will appear in the Step.
If this option is not selected, no warning message will appear in the Step.

extract 3d points in 3d roi pointcloud warning1

extract 3d points in 3d roi pointcloud warning

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Extract 3D Points in 3D ROI

Function

Usage Scenario

Input and Output

Input

Output

Parameter Description

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