Extract 3D Points in 3D ROI

Function

Set a Region of Interest (ROI) in 3D space, and the points within the region will be extracted and points outside the region will be eliminated.

extract 3d points in 3d roi function description

Usage Scenario

This Step enables to extract point cloud of the target object and avoid interference from background and outliers.

Input and Output

extract 3d points in 3d roi input and output

Parameter Description

3D ROI Settings

3D ROI Name

Instruction: Click Set 3D ROI to open the Set ROI window, as shown below. Please refer to Instructions for Setting 3D ROI for detailed instructions.

extract 3d points in 3d roi pointcloud interface

Input Point Cloud Reference Frame

Default value: Camera Frame

Options: Camera Frame, Robot Frame

Instruction: Change the reference frame in which the input point clouds are. The figure below on the top shows the input point cloud in the camera reference frame, and the figure at the bottom shows the input point cloud in the robot reference frame.

extract 3d points in 3d roi pointcloud compared

Empty Status Settings

Min Point Count in 3D ROI

Default value: 0

Description: Adjust the minimum number of the points extracted in the 3D ROI. If the number of points extracted in the 3D ROI is less than this value, no point cloud will be returned.

Send Empty Status of Points in 3D ROI

Default value: Selected

Instruction: Select to send the empty status of points in 3D ROI. By default, if the number of points in the 3D ROI is less than the set value of Min Points Number in 3D ROI, a message as shown below will appear in the Step.

extract 3d points in 3d roi pointcloud warning1

If this option is not selected, no warning message will appear in the Step.

extract 3d points in 3d roi pointcloud warning