Remove Coinciding Objects

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Function

Remove objects that are completely covered or covered by other objects according to the pose confidence values.

Usage Scenario

This Step is usually used after the Step 3D Fine Matching Lite (recommended) or the Step 3D Fine Matching to remove incorrect matching results.

Input and Output

Input

Input port	Data type	Description
Object Poses	Pose[]	List of object poses to be removed from the overlap list input at this port.
Object Point Clouds (with normals if surface)	PointCloud/XYZNormal[]	List of object point clouds corresponding to poses is input to this port.
Pose Confidence Values	Number[]	Pose confidence values used for removing incorrect matching results.

Input port

Data type

Description

Object Poses

Pose[]

List of object poses to be removed from the overlap list input at this port.

Object Point Clouds (with normals if surface)

PointCloud/XYZNormal[]

List of object point clouds corresponding to poses is input to this port.

Pose Confidence Values

Number[]

Pose confidence values used for removing incorrect matching results.

Output

Output port	Data type	Description
Filtered Object Poses	Pose[]	Pose list with the incorrect matching results removed.
Filtered Object Point Clouds	PointCloud/XYZNormal[]	Point cloud list with the incorrect matching results removed.
Judgment Result	Bool[]	Boolean list (True: retained objects with higher pose confidences; False: removed objects with lower pose confidences).

Output port

Data type

Description

Filtered Object Poses

Pose[]

Pose list with the incorrect matching results removed.

Filtered Object Point Clouds

PointCloud/XYZNormal[]

Point cloud list with the incorrect matching results removed.

Judgment Result

Bool[]

Boolean list (True: retained objects with higher pose confidences; False: removed objects with lower pose confidences).

Parameters

Parameter	Description
Parameter Tuning Level	Description: This parameter is used to set the tuning level of the parameters. The parameters in different tuning levels are different. Value list: Basic, Advanced Instruction: If the Parameter Tuning Level is set to Basic, please complete parameter settings under “Object Model Type” and “Threshold Setting.” If the Parameter Tuning Level is set to Advanced, parameter settings under Advanced Settings will also need to be configured.

Parameter

Description

Parameter Tuning Level

Description: This parameter is used to set the tuning level of the parameters. The parameters in different tuning levels are different.
Value list: Basic, Advanced
Instruction: If the Parameter Tuning Level is set to Basic, please complete parameter settings under “Object Model Type” and “Threshold Setting.” If the Parameter Tuning Level is set to Advanced, parameter settings under Advanced Settings will also need to be configured.

Object Model Type

Parameter	Description
Object Model Type	Description: This parameter is used to select the type of the object’s point cloud model. Value list: Surface model, Edge model Instruction: Select the type of the point cloud model according to the actual requirements. If Edge model is selected, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Parameter

Description

Object Model Type

Description: This parameter is used to select the type of the object’s point cloud model.
Value list: Surface model, Edge model
Instruction: Select the type of the point cloud model according to the actual requirements. If Edge model is selected, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Threshold Settings

Parameter	Description
Coincidence Ratio Threshold	Description: If a surface point cloud is used, when the coincidence ratio of the masks, obtained by orthographically projecting the two object point clouds, exceeds this value, the pose with lower confidence will be removed. If an edge point cloud is used, when the coincidence ratio of the two objects’ bounding boxes exceeds this value, the pose with lower confidence will be removed. Set this parameter when Remove poses of coinciding objects is enabled. Default value: 30%

Parameter

Description

Coincidence Ratio Threshold

Description: If a surface point cloud is used, when the coincidence ratio of the masks, obtained by orthographically projecting the two object point clouds, exceeds this value, the pose with lower confidence will be removed. If an edge point cloud is used, when the coincidence ratio of the two objects’ bounding boxes exceeds this value, the pose with lower confidence will be removed. Set this parameter when Remove poses of coinciding objects is enabled.
Default value: 30%

Advanced Settings

Parameter	Description
Method to Generate Pixel Size	Description: When the coincidence ratio is calculated based on the 2D orthographic projection of the object point cloud, this parameter is used to select the method to generate the size per pixel on the projected 2D image. Value list: Auto, Manual Auto: Automatically determine the size per pixel on the projected 2D image. Manual: Set the Pixel Size manually. Instruction: If the “Method to Generate Pixel Size” is set to “Auto,” the input point clouds must belong to the same object type. This feature does not support inputting point clouds of different object types. If the input point clouds belong to different object types, please select “Manual” in the “Method to Generate Pixel Size.”
Pixel Size	Description: Set the “Pixel Size” in millimeters. Default value: 2.5 mm Instruction: It is recommended to set the “Pixel Size” the same as the “Sampling Interval” when making the point cloud model. If the value is set too large, the accuracy of the calculated coincidence ratio may be reduced. If the value is set too small, the calculated coincidence ratio may be lower.

Parameter

Description

Method to Generate Pixel Size

Description: When the coincidence ratio is calculated based on the 2D orthographic projection of the object point cloud, this parameter is used to select the method to generate the size per pixel on the projected 2D image.

Value list: Auto, Manual

Auto: Automatically determine the size per pixel on the projected 2D image.
Manual: Set the Pixel Size manually.

Instruction: If the “Method to Generate Pixel Size” is set to “Auto,” the input point clouds must belong to the same object type. This feature does not support inputting point clouds of different object types. If the input point clouds belong to different object types, please select “Manual” in the “Method to Generate Pixel Size.”

Pixel Size

Description: Set the “Pixel Size” in millimeters.
Default value: 2.5 mm
Instruction: It is recommended to set the “Pixel Size” the same as the “Sampling Interval” when making the point cloud model. If the value is set too large, the accuracy of the calculated coincidence ratio may be reduced. If the value is set too small, the calculated coincidence ratio may be lower.

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