Orthographic Projection Inverse

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Function

This Step converts the 2D points in the mask to 3D point clouds.

orthographic projection inverse functional description 2

Usage Scenario

This Step is usually used for measurement scenarios. It usually follows the Orthographic Projection Step to convert the 2D image obtained from orthographic projection into the 3D point cloud.

Input and Output

Input

Input port Data type Description

Point Cloud

PointCloud/XYZNormal

Point cloud with normal (to provide reference for inverse orthographic projection).

Mask

Image/Color/Mask

Mask of 2D points for inverse orthographic projection.

Point Cloud 3D Min Point

Pose []

Minimum value of the three-dimensional coordinates (X, Y, Z) among all points in the point cloud.

Resolution

Number

Resolution refers to the number of pixels per unit length on the 2D image formed by the orthographic projection. The unit length is 1 meter.

Mask Blank Border Width

Number

A blank border will be added to the four sides of the mask of the 2D image formed by projection.

Output

Output port Data type Description

Point Cloud

PointCloud/XYZNormal

Point cloud with normal obtained by inverse orthographic projection.

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