Extract Point Cloud in Geometry

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Function Description

This Step is used to extract point clouds within the specified geometry from the input point clouds. This Step supports cuboids, cylinders, rings, and sectors.

Usage Scenario

This Step is applicable for scenarios where point clouds need to be extracted based on a specified geometry.

Input and Output

The list lengths of all input ports must be the same; otherwise, the Step returns an error.

The input ports change according to the selected Geometry Type parameter. See the description for each geometry type below. The output ports are the same for all geometry types.

Cuboid

Input

Input Port	Data Type	Description
Point Clouds	PointCloud/XYZNormal[]	Input point clouds to be extracted.
Geometry Center Pose	Pose[]	Center poses of the geometry, which determine the position and orientation of the geometry in space.
Half Length on X-Axis	Number[] -	Optional input. Determines the size of the cuboid extraction range along the X-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative X-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the X-axis is 200 mm. If this port is not connected, the value set in the parameters is used.
Half Length on Y-Axis	Number[] -	Optional input. Determines the size of the cuboid extraction range along the Y-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Y-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Y-axis is 200 mm. If this port is not connected, the value set in the parameters is used.
Half Length on Z-Axis	Number[] -	Optional input. Determines the size of the cuboid extraction range along the Z-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Z-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Z-axis is 200 mm. If this port is not connected, the value set in the parameters is used.

Input Port

Data Type

Description

Point Clouds

PointCloud/XYZNormal[]

Input point clouds to be extracted.

Geometry Center Pose

Pose[]

Center poses of the geometry, which determine the position and orientation of the geometry in space.

Half Length on X-Axis

Number[] -

Optional input. Determines the size of the cuboid extraction range along the X-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative X-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the X-axis is 200 mm. If this port is not connected, the value set in the parameters is used.

Half Length on Y-Axis

Number[] -

Optional input. Determines the size of the cuboid extraction range along the Y-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Y-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Y-axis is 200 mm. If this port is not connected, the value set in the parameters is used.

Half Length on Z-Axis

Number[] -

Optional input. Determines the size of the cuboid extraction range along the Z-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Z-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Z-axis is 200 mm. If this port is not connected, the value set in the parameters is used.

Output

Output Port	Data Type	Description
Extracted Point Clouds	PointCloud/XYZNormal[]	Point clouds within the specified geometry.

Output Port

Data Type

Description

Extracted Point Clouds

PointCloud/XYZNormal[]

Point clouds within the specified geometry.

Cylinder

Input

Input Port	Data Type	Description
Point Clouds	PointCloud/XYZNormal[]	Input point clouds to be extracted.
Geometry Center Pose	Pose[]	Center poses of the geometry, which determine the position and orientation of the geometry in space.
Lower Limit of Z-Axis Range	Number[] -	Optional input. Determines the lower limit of the extraction range along the Z-axis of the center pose. The Step uses the cylinder pose as the center and takes this value as the lower limit along the Z-axis of the pose. For example, when this value is -100 mm, the extraction range extends 100 mm in the negative Z-axis direction; when this value is 100 mm, the extraction range extends 100 mm in the positive Z-axis direction. The Lower Limit of Z-Axis Range and Upper Limit of Z-Axis Range together determine the extraction range along the Z-axis of the center pose. Only points within this range are retained. If this port is not connected, the value set in the parameters is used.
Upper Limit of Z-Axis Range	Number[] -	Optional input. Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range. If this port is not connected, the value set in the parameters is used.
Radius	Number[] -	Optional input. Radius of the cylinder cross-section. If this port is not connected, the value set in the parameters is used.

Input Port

Data Type

Description

Point Clouds

PointCloud/XYZNormal[]

Input point clouds to be extracted.

Geometry Center Pose

Pose[]

Center poses of the geometry, which determine the position and orientation of the geometry in space.

Lower Limit of Z-Axis Range

Number[] -

Optional input. Determines the lower limit of the extraction range along the Z-axis of the center pose. The Step uses the cylinder pose as the center and takes this value as the lower limit along the Z-axis of the pose. For example, when this value is -100 mm, the extraction range extends 100 mm in the negative Z-axis direction; when this value is 100 mm, the extraction range extends 100 mm in the positive Z-axis direction. The Lower Limit of Z-Axis Range and Upper Limit of Z-Axis Range together determine the extraction range along the Z-axis of the center pose. Only points within this range are retained. If this port is not connected, the value set in the parameters is used.

Upper Limit of Z-Axis Range

Number[] -

Optional input. Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range. If this port is not connected, the value set in the parameters is used.

Radius

Number[] -

Optional input. Radius of the cylinder cross-section. If this port is not connected, the value set in the parameters is used.

Output

Output Port	Data Type	Description
Extracted Point Clouds	PointCloud/XYZNormal[]	Point clouds within the specified geometry.

Output Port

Data Type

Description

Extracted Point Clouds

PointCloud/XYZNormal[]

Point clouds within the specified geometry.

Ring

Input

Input Port	Data Type	Description
Point Clouds	PointCloud/XYZNormal[]	Input point clouds to be extracted.
Geometry Center Pose	Pose[]	Center poses of the geometry, which determine the position and orientation of the geometry in space.
Lower Limit of Z-Axis Range	Number[] -	Optional input. Determines the lower limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.
Upper Limit of Z-Axis Range	Number[] -	Optional input. Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.
Inner Radius	Number[] -	Optional input. Inner radius of the cylinder, which determines the inner boundary. If this port is not connected, the value set in the parameters is used.
Outer Radius	Number[] -	Optional input. Outer radius of the cylinder, which determines the outer boundary. If this port is not connected, the value set in the parameters is used.

Input Port

Data Type

Description

Point Clouds

PointCloud/XYZNormal[]

Input point clouds to be extracted.

Geometry Center Pose

Pose[]

Center poses of the geometry, which determine the position and orientation of the geometry in space.

Lower Limit of Z-Axis Range

Number[] -

Optional input. Determines the lower limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.

Upper Limit of Z-Axis Range

Number[] -

Optional input. Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.

Inner Radius

Number[] -

Optional input. Inner radius of the cylinder, which determines the inner boundary. If this port is not connected, the value set in the parameters is used.

Outer Radius

Number[] -

Optional input. Outer radius of the cylinder, which determines the outer boundary. If this port is not connected, the value set in the parameters is used.

Output

Output Port	Data Type	Description
Extracted Point Clouds	PointCloud/XYZNormal[]	Point clouds within the specified geometry.

Output Port

Data Type

Description

Extracted Point Clouds

PointCloud/XYZNormal[]

Point clouds within the specified geometry.

Sector

Input

Input Port	Data Type	Description
Point Clouds	PointCloud/XYZNormal[]	Input point clouds to be extracted.
Geometry Center Pose	Pose[]	Center poses of the geometry, which determine the position and orientation of the geometry in space.
Lower Limit of Z-Axis Range	Number[] -	Optional input. Determines the lower limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.
Upper Limit of Z-Axis Range	Number[] -	Optional input. Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range under Cylinder. If this port is not connected, the value set in the parameters is used.
Inner Radius	Number[] -	Optional input. Inner radius of the cylinder, which determines the inner boundary. If this port is not connected, the value set in the parameters is used.
Outer Radius	Number[] -	Optional input. Outer radius of the cylinder, which determines the outer boundary. If this port is not connected, the value set in the parameters is used.
Start Angle	Number[] -	Optional input. Start angle of the sector. If this port is not connected, the value set in the parameters is used.
End Angle	Number[] -	Optional input. End angle of the sector. If this port is not connected, the value set in the parameters is used.

Input Port

Data Type

Description

Point Clouds

PointCloud/XYZNormal[]

Input point clouds to be extracted.

Geometry Center Pose

Pose[]

Center poses of the geometry, which determine the position and orientation of the geometry in space.

Lower Limit of Z-Axis Range

Number[] -

Upper Limit of Z-Axis Range

Number[] -

Inner Radius

Number[] -

Optional input. Inner radius of the cylinder, which determines the inner boundary. If this port is not connected, the value set in the parameters is used.

Outer Radius

Number[] -

Optional input. Outer radius of the cylinder, which determines the outer boundary. If this port is not connected, the value set in the parameters is used.

Start Angle

Number[] -

Optional input. Start angle of the sector. If this port is not connected, the value set in the parameters is used.

End Angle

Number[] -

Optional input. End angle of the sector. If this port is not connected, the value set in the parameters is used.

Output

Output Port	Data Type	Description
Extracted Point Clouds	PointCloud/XYZNormal[]	Point clouds within the specified geometry.

Output Port

Data Type

Description

Extracted Point Clouds

PointCloud/XYZNormal[]

Point clouds within the specified geometry.

Parameter Description

Geometry Type Settings

Parameter	Description
Geometry Type	Sets the type of geometry used to extract point clouds. Value List: Cuboid, Cylinder, Ring, Sector

Parameter

Description

Geometry Type

Sets the type of geometry used to extract point clouds.

Value List: Cuboid, Cylinder, Ring, Sector

Cuboid

Cuboid Dimensions Settings

Parameter

Description

Half Length on X-Axis

Determines the size of the cuboid extraction range along the X-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative X-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the X-axis is 200 mm. This parameter takes effect when the Half Length on X-Axis input port is not connected.

Half Length on Y-Axis

Determines the size of the cuboid extraction range along the Y-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Y-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Y-axis is 200 mm. This parameter takes effect when the Half Length on Y-Axis input port is not connected.

Half Length on Z-Axis

Determines the size of the cuboid extraction range along the Z-axis. The Step uses the cuboid pose as the center and extends the range by this distance in both the positive and negative Z-axis directions. For example, when this value is 100 mm, the total length of the cuboid along the Z-axis is 200 mm. This parameter takes effect when the Half Length on Z-Axis input port is not connected.

The half length set through the port or parameter must be a positive number.

Cylinder

Z-Axis Range Settings

Parameter

Description

Lower Limit of Z-Axis Range

Determines the lower limit of the extraction range along the Z-axis of the center pose. The Step uses the cylinder pose as the center and takes this value as the lower limit along the Z-axis of the pose. For example, when this value is -100 mm, the extraction range extends 100 mm in the negative Z-axis direction; when this value is 100 mm, the extraction range extends 100 mm in the positive Z-axis direction. The Lower Limit of Z-Axis Range and Upper Limit of Z-Axis Range together determine the extraction range along the Z-axis of the center pose. Only points within this range are retained. This parameter takes effect when the Lower Limit of Z-Axis Range input port is not connected.

This value must be less than the Upper Limit of Z-Axis Range; otherwise, the parameter setting is invalid.

Upper Limit of Z-Axis Range

Determines the upper limit of the extraction range along the Z-axis of the center pose. For details, see Lower Limit of Z-Axis Range. This parameter takes effect when the Upper Limit of Z-Axis Range input port is not connected.

Radius Settings

Parameter

Description

Cylinder Radius

Radius of the cylinder cross-section. This parameter takes effect when the Radius input port is not connected.

The radius set through the port or parameter must be a positive number.

Point Cloud Judgment Settings

Parameter	Description
Determine Whether Point Cloud Centroid Is Within the Geometry	When enabled, the Step determines whether an input point cloud is within the geometry based on its centroid instead of checking each point in the point cloud individually. If the centroid is within the geometry, the entire point cloud is considered to be within the geometry and is output. If the centroid is outside the geometry, the point cloud is not extracted.

Parameter

Description

Determine Whether Point Cloud Centroid Is Within the Geometry

When enabled, the Step determines whether an input point cloud is within the geometry based on its centroid instead of checking each point in the point cloud individually. If the centroid is within the geometry, the entire point cloud is considered to be within the geometry and is output. If the centroid is outside the geometry, the point cloud is not extracted.

Ring

Z-Axis Range Settings

Parameter	Description
Lower Limit of Z-Axis Range	For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Lower Limit of Z-Axis Range input port is not connected.
Upper Limit of Z-Axis Range	For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Upper Limit of Z-Axis Range input port is not connected.

Parameter

Description

Lower Limit of Z-Axis Range

For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Lower Limit of Z-Axis Range input port is not connected.

Upper Limit of Z-Axis Range

For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Upper Limit of Z-Axis Range input port is not connected.

Radius Settings

Parameter

Description

Inner Radius

Inner radius of the cylinder, which determines the inner boundary. This parameter takes effect when the Inner Radius input port is not connected.

This value must be less than the Outer Radius; otherwise, the parameter setting is invalid.

Outer Radius

Outer radius of the cylinder, which determines the outer boundary. This parameter takes effect when the Outer Radius input port is not connected.

Point Cloud Judgment Settings

Parameter	Description
Determine Whether Point Cloud Centroid Is Within the Geometry	When enabled, the Step determines whether an input point cloud is within the geometry based on its centroid instead of checking each point in the point cloud individually. If the centroid is within the geometry, the entire point cloud is considered to be within the geometry and is output. If the centroid is outside the geometry, the point cloud is not extracted.

Parameter

Description

Determine Whether Point Cloud Centroid Is Within the Geometry

Sector

Z-Axis Range Settings

Parameter	Description
Lower Limit of Z-Axis Range	For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Lower Limit of Z-Axis Range input port is not connected.
Upper Limit of Z-Axis Range	For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Upper Limit of Z-Axis Range input port is not connected.

Parameter

Description

Lower Limit of Z-Axis Range

For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Lower Limit of Z-Axis Range input port is not connected.

Upper Limit of Z-Axis Range

For details, see Lower Limit of Z-Axis Range under Cylinder. This parameter takes effect when the Upper Limit of Z-Axis Range input port is not connected.

Radius Settings

Parameter

Description

Inner Radius

Inner radius of the cylinder, which determines the inner boundary. This parameter takes effect when the Inner Radius input port is not connected.

This value must be less than the Outer Radius; otherwise, the parameter setting is invalid.

Outer Radius

Outer radius of the cylinder, which determines the outer boundary. This parameter takes effect when the Outer Radius input port is not connected.

Angle Settings

Parameter

Description

Start Angle

Start angle of the sector. This parameter takes effect when the Start Angle input port is not connected.

This value must be less than the End Angle; otherwise, the parameter setting is invalid.

End Angle

End angle of the sector. This parameter takes effect when the End Angle input port is not connected.

Point Cloud Judgment Settings

Parameter	Description
Determine Whether Point Cloud Centroid Is Within the Geometry	When enabled, the Step determines whether an input point cloud is within the geometry based on its centroid instead of checking each point in the point cloud individually. If the centroid is within the geometry, the entire point cloud is considered to be within the geometry and is output. If the centroid is outside the geometry, the point cloud is not extracted.

Parameter

Description

Determine Whether Point Cloud Centroid Is Within the Geometry

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