Get Point Clouds of Target Objects on the Highest Layer

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Function

This Procedure extracts the point cloud of the highest-layer target objects from a multi-layer stacked point cloud. By filtering points based on height along a specified direction, point cloud data from lower layers is removed.

Usage Scenario

This Procedure is applicable to scenarios where identical target objects are stacked in multiple layers and only the highest layer needs to be recognized or picked.

Input and Output

Input

Input port Data type Description

Original Point Cloud

PointCloud/XYZNormal[]

Point cloud to be processed, typically containing multiple layers of target objects.

3D Object Dimensions

Size3D[]

List of target object dimensions (X, Y, Z).

Output

Output port Data type Description

Transformed Point Cloud

PointCloud/XYZNormal[]

Point cloud of the highest-layer target objects.

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