Get 2D Image of Highest-Layer Target Object

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Function

This Procedure filters the original color image using point cloud data to extract a 2D image containing only the highest-layer target object, effectively removing interference from the background and lower-layer target objects.

Usage Scenario

This Procedure is mainly used in depalletizing scenarios where only the highest-layer target object needs to be recognized or picked.

Input and Output

Input

Input port	Data type	Description
Image	Image	Each part of the input image covered by a mask will be output as an image list.
Point Cloud with Normals	PointCloud/XYZNormal[]	Point cloud with normals.

Input port

Data type

Description

Image

Each part of the input image covered by a mask will be output as an image list.

Point Cloud with Normals

PointCloud/XYZNormal[]

Point cloud with normals.

Output

Output ports	Data type	Description
Unnamed	Image[]	Individual item produced by decomposing.

Output ports

Data type

Description

Unnamed

Image[]

Individual item produced by decomposing.

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