Point Cloud Preprocessing

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Function

This Procedure performs preprocessing operations on the original point cloud, such as point filtering, point cloud merging, and image filtering, to delete interfering points, thus speeding up the processing of subsequent Steps.

Usage Scenario

This Procedure typically follows the Capture Images from Camera Step to optimize the original point cloud and improve the processing speed of subsequent Steps.

Input and Output

Input

Input port	Data type	Description
Original Image	Image	Image input to this port will be filtered.
Color Image	Image/Color	2D image that provides color information for the point cloud (optional).

Input port

Data type

Description

Original Image

Image

Image input to this port will be filtered.

Color Image

Image/Color

2D image that provides color information for the point cloud (optional).

Output

Output port	Data type	Description
Merged Point Cloud	PointCloud/XYZNormal	Merged point cloud.
Point Cloud in ROI	PointCloud/XYZNormal	Point cloud in the ROI.
Color Point Cloud	PointCloud/XYZRGB	Generated colored point cloud.

Output port

Data type

Description

Merged Point Cloud

PointCloud/XYZNormal

Merged point cloud.

Point Cloud in ROI

PointCloud/XYZNormal

Point cloud in the ROI.

Color Point Cloud

PointCloud/XYZRGB

Generated colored point cloud.

Parameters

Parameter	Description
3D ROI	Instruction: Click the Open the editor button and set the 3D ROI in the “Set 3D ROI” window. For detailed instructions, please refer to Set 3D ROI.
Noise Removal Level	Description: This parameter is used to determine the noise removal level. Value list: None, Weak, Strong, Customized Default value: Strong Instruction: This parameter should be adjusted when there is severe noise or erroneous burrs on the edges of the point cloud of the target object. The stronger the removal level, the better the noise removal effect.
Edge Extraction Effect	Description: This parameter is used to determine the edge extraction effect. Value list: Fine, Standard, Rough, Extra Rough, Customized Default value: Standard Instruction: If the edge extraction effect on the target object is not satisfactory, adjust this parameter. The finer the detection, the richer the edge line details. The rougher the detection, the more local edge details will be discarded. However, please retain sufficient and stable target object features to ensure the correctness of the recognition results.

Parameter

Description

3D ROI

Instruction: Click the Open the editor button and set the 3D ROI in the “Set 3D ROI” window. For detailed instructions, please refer to Set 3D ROI.

Noise Removal Level

Description: This parameter is used to determine the noise removal level.
Value list: None, Weak, Strong, Customized
Default value: Strong
Instruction: This parameter should be adjusted when there is severe noise or erroneous burrs on the edges of the point cloud of the target object. The stronger the removal level, the better the noise removal effect.

Edge Extraction Effect

Description: This parameter is used to determine the edge extraction effect.
Value list: Fine, Standard, Rough, Extra Rough, Customized
Default value: Standard
Instruction: If the edge extraction effect on the target object is not satisfactory, adjust this parameter. The finer the detection, the richer the edge line details. The rougher the detection, the more local edge details will be discarded. However, please retain sufficient and stable target object features to ensure the correctness of the recognition results.

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Point Cloud Preprocessing

Function

Usage Scenario

Input and Output

Input

Output

Parameters

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