Get 2D Image of Highest-Layer Target Objects

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Feature Description

This Step group filters the original image by point cloud information, extracts a 2D image containing only highest-layer target objects, and effectively removes interference from background and lower-layer target objects.

Application Scenario

This Step group is mainly used in depalletizing scenarios when recognition or picking is required for top-layer target objects.

Input and Output

Input

Input Port	Data Type	Description
Image	Image	For each region covered by the mask in the input image from this port, output is provided as an image list.
Point cloud with normals	PointCloud/XYZNormal[]	Point cloud with normals.

Input Port

Data Type

Description

Image

For each region covered by the mask in the input image from this port, output is provided as an image list.

Point cloud with normals

PointCloud/XYZNormal[]

Point cloud with normals.

Output

Output Port	Data Type	Description
Unnamed	Image[]	Decomposed elements.

Output Port

Data Type

Description

Unnamed

Image[]

Decomposed elements.

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