Get Point Cloud of Highest-Layer Target Objects

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Feature Description

This Step group extracts point cloud of highest-layer target objects from point cloud of multi-layer target objects. By filtering point cloud height along a specified direction, interference from lower-layer target object point cloud is removed.

Application Scenario

This Step group is suitable for multi-layer stacking scenarios of identical target objects, when only top-layer target objects need to be recognized or picked.

Input and Output

Input

Input Port Data Type Description

Raw point cloud

PointCloud/XYZNormal[]

Point cloud input from this port will be transformed.

3D object dimensions

Size3D[]

List of object dimensions.

Output

Output Port Data Type Description

Transformed point cloud

PointCloud/XYZNormal[]

Transformed point cloud.

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