Extract Pose in Cuboid

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Function Description

This Step is used to extract valid poses located within the specified cuboid from one or more input poses. The position and orientation of the cuboid are determined by the input cuboid center pose. The cuboid dimensions can be set through Step parameters or dynamically input through input ports.

Usage Scenario

This Step is applicable for scenarios where poses within a specified spatial range need to be selected from a set of candidate poses.

Input and Output

Input

Input Port	Data Type	Description
Poses	Pose[]	Poses to be extracted. The Step determines whether each pose is within the specified cuboid.
Cuboid Poses	Pose[]	Cuboid center poses, which determine the position and orientation of the cuboids.
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

Poses

Pose[]

Poses to be extracted. The Step determines whether each pose is within the specified cuboid.

Cuboid Poses

Pose[]

Cuboid center poses, which determine the position and orientation of the cuboids.

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 Poses	Pose[][]	Poses located within the cuboid range. When multiple cuboid center poses are input, the output is grouped by cuboid range, with an additional dimension added. Use the Unpack Data Step to process the output.
Judgment Results	Bool[][]	The judgment result corresponding to each input pose. If a pose is within the cuboid range, the corresponding value is True; otherwise, it is False. When multiple cuboid center poses are input, the output is grouped by cuboid range.

Output Port

Data Type

Description

Extracted Poses

Pose[][]

Poses located within the cuboid range. When multiple cuboid center poses are input, the output is grouped by cuboid range, with an additional dimension added. Use the Unpack Data Step to process the output.

Judgment Results

Bool[][]

The judgment result corresponding to each input pose. If a pose is within the cuboid range, the corresponding value is True; otherwise, it is False. When multiple cuboid center poses are input, the output is grouped by cuboid range.

Parameter Description

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.

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.

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