Apply Masks to Point Cloud

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Function

The Step applies the mask to the point cloud. Points covered by the mask will be kept while points outside the mask will be eliminated.

Usage Scenario

This Step is usually connected after the Step Instance Segmentation to extract point clouds that are within the mask.

Input and Output

Input

Input port	Data type	Description
Mask Images	Image/Color/Mask[]	Mask images used to extract point clouds are input to this port.
Original Point Cloud	PointCloud/XYZ-Normal[]	Point cloud to be processed is input to this port.
Labels	String[]	Labels corresponding to masks (optional).
Confidences	Number[]	Confidences corresponding to masks (optional).

Input port

Data type

Description

Mask Images

Image/Color/Mask[]

Mask images used to extract point clouds are input to this port.

Original Point Cloud

PointCloud/XYZ-Normal[]

Point cloud to be processed is input to this port.

Labels

String[]

Labels corresponding to masks (optional).

Confidences

Number[]

Confidences corresponding to masks (optional).

Output

Output port	Data type	Description
Interected Clouds	PointCloud/XYZ-Normal[]	Point clouds under masks.
Labels	String[]	Labels corresponding to each output point cloud (optional).
Confidences	Number[]	Confidence values corresponding to point cloud lists (optional).

Output port

Data type

Description

Interected Clouds

PointCloud/XYZ-Normal[]

Point clouds under masks.

Labels

String[]

Labels corresponding to each output point cloud (optional).

Confidences

Number[]

Confidence values corresponding to point cloud lists (optional).

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