Point Cloud Shape Detector

Point Clouds (with normals)

PointCloud/XYZNormal[]

Point clouds in the input list of this port will be checked for shape.

Classification Labels

String[]

List of classification labels corresponding to point clouds (optional).

Point Cloud Confidences

Number[]

List of confidences corresponding to point clouds (optional).

Detected Point Clouds (with normals)

PointCloud/XYZNormal[]

List of detected point clouds of corresponding shapes.

Point Cloud Shape Info

Shape3D []

List of shape information corresponding to each point cloud.

Classification Labels

String[]

List of labels corresponding to each point cloud.

Point Cloud Confidences

Number[]

List of confidence values corresponding to each point cloud.

Shapes to Detect

Description: This parameter is used to select the target shape type for detection. There are three options: Plane, Cylinder, and Sphere.
Default value: Plane
Instruction: Set the parameter according to the actual situation.

Detector

Description: This parameter is used to choose the type of detector used during detection, including Method 1 and Method 2. (Upon optimization, there will be only Method 1.)
Default setting: Method 1
Suggested setting: Method 2

Normal Deviation

Description: This parameter is used to set the upper limit of the angle difference (in °) between the normal of point in the image and the normal of projected theoretically corresponding standard shape.
Default value: 30°
Suggested value: Set according to the actual scenarios.

Acceptable Point Cloud Fluctuation

Description: This parameter is the upper limit (in mm) of the acceptable range of the point cloud fluctuation error.
Default value: 5.000 mm
Suggested value: [3.000, 5.000].

Min Cluster Interval

Description: This parameter is the lower limit (in mm) of the interval of point cloud connectivity judgement. When this parameter becomes large, points far away from each other will be clustered into one class; when it becomes smaller, however, points close to each other will be clustered into different classes.
Default value: 5.000 mm
Suggested value: Set according to the actual scenarios.

Point Cloud Quantization Resolution

Description: This parameter is used to control the number and intensity of points. The unit is millimeters. Greater number and intensity correspond to higher accuracy and longer computing time; when this parameter is set lower, the point cloud becomes sparser, which may decrease calculation accuracy but save computation time.
Default value: 5.000 mm
Suggested value: Usually twice the value of “Min Cluster Interval”.

Number of Results per Point Cloud

Description: This parameter determines the number of final outputted results for each input point cloud.
Default value: 1
Suggested value: Set according to the actual scenarios.

Sort by Point Counts

Description: This parameter decides whether to sort the final result according to the size of point cloud or not.
Default setting: selected.
Suggested value: Set according to the actual scenarios.

Success Probability (0–1.0)

Description: This parameter is used to adjust the success rate of detection, ensuring that there is a sufficient success rate to detect the corresponding shape.
Default value: 0.9900
Suggested value: Set according to the actual scenarios.

Min Shape Point Count Ratio (0–1.0)

Description: This parameter is used to set the lower limit of the ratio between the detected points belonging to one shape and the total number of points with shape labels. The points that have shape labels and are under this limit will be filtered out.
Default value: 0.1000
Suggested value: Set according to the actual scenarios.

Min Mean Dist Error (0–1.0)

Description: This parameter is used to set the lower limit of the mean distance deviation (in mm) between real points and the points of corresponding detected theoretical shape. When this parameter becomes larger, point clouds with huge deviations will be retained; when it becomes smaller, however, point clouds with small deviations will be filtered out.
Default value: 10.000 mm
Suggested value: Set according to the actual scenarios.

Min Mean Angle Error (0–90)

Description: This parameter is used to set the lower limit of the mean angle deviation (in °) between real points and the points of corresponding detected theoretical shape. When this parameter becomes larger, point clouds with huge deviations will be retained; when it becomes smaller, however, point clouds with small deviations will be filtered out.
Default value: 45.0000
Suggested value: Set according to the actual scenarios.

Min Radius

Instruction: This parameter is used to set the lower limit of the cylinder (in mm). Cylinders with a radius lower than this limit will be filtered out.
Default value: 10.000 mm
Suggested value: Set according to the actual scenarios.

Max Radius

Instruction: This parameter is used to set the upper limit of the cylinder (in mm). Cylinders with a radius greater than this limit will be filtered out.
Default value: 100.000 mm
Suggested value: Set according to the actual scenarios.

Optimize Cylinder Positions

Instruction: This parameter decides whether to optimize the shape parameters of cylinder, center point and axis included.
Default Value: Unselected.
Suggested Setting: Selected.