Point Cloud Preprocessing
Function
This Step performs pre-processing operations such as point filtering, point cloud merging, and image filtering on the original point cloud to delete interfering points, thus speeding up the processing of subsequent Steps.
Usage Scenario
This Step 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
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Input:
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Depth map.
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2D image that provides texture information for the point cloud (optional).
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Output:
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Surface point cloud in the ROI.
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Edge point cloud in the ROI.
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Textured scene point cloud (usually used for path planning).
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Parameters
- 3D ROI
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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
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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
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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.