Extract 3D Points in Cuboid

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Function

Extract point clouds inside specified cuboids and discard the point clouds outside the cuboids.

Usage Scenario

A general point cloud extraction Step. No fixed usage scenarios. The dimensions of the cuboids can be input from the port or set by parameters.

Input and Output

Input

Input port	Data type	Description
Point Clouds	PointCloud/XYZNormal[]	Point clouds in the input list of this port will have points extracted.
Box Poses	Pose[]	List of cuboid center poses.
Half Lengths on X-Axis of Boxes	Number[]	Half of the X-length of the cuboid (optional).
Half Lengths on Y-Axis of Boxes	Number[]	Half of the Y-length of the cuboid (optional).
Half Lengths on Z-Axis of Boxes	Number[]	Half of the Z-length of the cuboid (optional).

Input port

Data type

Description

Point Clouds

PointCloud/XYZNormal[]

Point clouds in the input list of this port will have points extracted.

Box Poses

Pose[]

List of cuboid center poses.

Half Lengths on X-Axis of Boxes

Number[]

Half of the X-length of the cuboid (optional).

Half Lengths on Y-Axis of Boxes

Number[]

Half of the Y-length of the cuboid (optional).

Half Lengths on Z-Axis of Boxes

Number[]

Half of the Z-length of the cuboid (optional).

Output

Output port	Data type	Description
Extracted 3D Points	PointCloud/XYZNormal[]	List of point clouds within the cuboids.

Output port

Data type

Description

Extracted 3D Points

PointCloud/XYZNormal[]

List of point clouds within the cuboids.

Parameter Description

Box Dimensions’ Settings

Parameter	Description	Illustration
Half Length of Box on X-Axis	Default value: 100.000 Instructions: This parameter takes the half length of the box on the X-axis in the world reference frame, corresponding to halfX in the figure below. The unit is millimeters.
Half Length of Box on Y-Axis	Default value: 100.000 Instructions: This parameter takes the half length of the box on the Y-axis in the world reference frame, corresponding to halfY in the figure below. The unit is millimeters.
Half Length of Box on Z-Axis	Default value: 100.000 Instructions: This parameter takes the half length of the box on the Z-axis in the world reference frame, corresponding to halfZ in the figure below. The unit is millimeters.

Parameter

Description

Illustration

Half Length of Box on X-Axis

Default value: 100.000
Instructions: This parameter takes the half length of the box on the X-axis in the world reference frame, corresponding to halfX in the figure below. The unit is millimeters.

extract 3d points in cuboid schematic diagram

Half Length of Box on Y-Axis

Default value: 100.000
Instructions: This parameter takes the half length of the box on the Y-axis in the world reference frame, corresponding to halfY in the figure below. The unit is millimeters.

Half Length of Box on Z-Axis

Default value: 100.000
Instructions: This parameter takes the half length of the box on the Z-axis in the world reference frame, corresponding to halfZ in the figure below. The unit is millimeters.

Usage Settings for Input Clouds

Parameter	Description
Input Point Cloud Usage	Description: This parameter is used to set the correspondence between the input point cloud list and the cuboid center pose list. The Step will generate a cuboid based on the cuboid center pose and extract the points in the corresponding point cloud that are within the cuboid range. Value list: OneToOne: Each point cloud corresponds to a cuboid center pose. The cuboid generated from the first center pose is used to extract the first point cloud, the cuboid generated from the second center pose is used to extract the second point cloud, and so on. FirstToAll: All cuboid center poses are used for the first point cloud. The Step will generate a cuboid based on each center pose, and extract the points within the cuboid range from the first point cloud. AllToFirst: The first cuboid center pose is used for all point clouds. The Step will generate a cuboid based on the first center pose, and extract the points within the cuboid range from each point cloud. Instructions: Please select the appropriate method according to the correspondence between the point cloud list and the cuboid center pose list.

Parameter

Description

Input Point Cloud Usage

Description: This parameter is used to set the correspondence between the input point cloud list and the cuboid center pose list. The Step will generate a cuboid based on the cuboid center pose and extract the points in the corresponding point cloud that are within the cuboid range.

Value list:

OneToOne: Each point cloud corresponds to a cuboid center pose. The cuboid generated from the first center pose is used to extract the first point cloud, the cuboid generated from the second center pose is used to extract the second point cloud, and so on.
FirstToAll: All cuboid center poses are used for the first point cloud. The Step will generate a cuboid based on each center pose, and extract the points within the cuboid range from the first point cloud.
AllToFirst: The first cuboid center pose is used for all point clouds. The Step will generate a cuboid based on the first center pose, and extract the points within the cuboid range from each point cloud.

Instructions: Please select the appropriate method according to the correspondence between the point cloud list and the cuboid center pose list.

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Extract 3D Points in Cuboid

Function

Usage Scenario

Input and Output

Input

Output

Parameter Description

Box Dimensions’ Settings

Usage Settings for Input Clouds

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