Classify Point Clouds by Dimensions

Function

This Step judges whether each of the input point clouds is eligible based on the reference dimensions. If the deviation between the dimensions of an input point cloud and the reference dimensions is within the threshold range, the point cloud is eligible.

../../../../../_images/classification_by_point_clouds_sizes.png

Usage Scenario

This Step is usually used in sack depalletizing. To avoid being affected by errors in deep learning sack recognition results, this Step is used to add an error-proofing mechanism to the 3D algorithms by determining whether the sack point clouds from previous Steps are eligible or not. This Step is usually used with Steps as Apply Masks to Point Cloud, Get Highest Layer Clouds, etc.

Input and Output

../../../../../_images/16_classification_by_point_clouds_sizes.png

Parameter Description

Length Difference Threshold Settings

\(Length Difference = Actual Length of the Point Cloud - Reference Length\)

Lower Ratio Threshold
Description: This parameter specifies the minimum ratio of the length difference to the reference length. If the ratio of the length difference to the reference length is above this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: -0.2500
Value range: -1–0
Tuning recommendation: Please set the value according to the actual situation.
Upper Ratio Threshold
Description: This parameter specifies the maximum ratio of the length difference to the reference length. If the ratio of the length difference to the reference length is below this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: 0.2500
Value range: 0–1
Tuning recommendation: Please set the value according to the actual situation.

Note

  • If Lower Ratio Threshold < Length Difference/Reference Length < Upper Ratio Threshold, the point cloud is eligible.

  • If Length Difference/Reference Length > Upper Ratio Threshold, the point cloud is ineligible.

  • If Length Difference/Reference Length < Lower Ratio Threshold, the point cloud is ineligible.

Width Difference Threshold Settings

\(Width Difference = Actual Width of the Point Cloud - Reference Width\)

Lower Ratio Threshold
Description: This parameter specifies the minimum ratio of the width difference to the reference width. If the ratio of the width difference to the reference width is above this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: -0.2500
Value range: -1–0
Tuning recommendation: Please set the value according to the actual situation.
Upper Ratio Threshold
Description: This parameter specifies the maximum ratio of the width difference to the reference width. If the ratio of the width difference to the reference width is below this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: 0.2500
Value range: 0–1
Tuning recommendation: Please set the value according to the actual situation.

Note

  • If Lower Ratio Threshold < Width Difference/Reference Width < Upper Ratio Threshold, the point cloud is eligible.

  • If Width Difference/Reference Width > Upper Ratio Threshold, the point cloud is ineligible.

  • If Width Difference/Reference Width < Lower Ratio Threshold, the point cloud is ineligible.

Height Difference Threshold Settings

\(Height Difference = Actual Height of the Point Cloud - Reference Height\)

Lower Ratio Threshold
Description: This parameter specifies the minimum ratio of the height difference to the reference height. If the ratio of the height difference to the reference height is above this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: -0.2500
Value range: -1–0
Tuning recommendation: Please set the value according to the actual situation.
Upper Ratio Threshold
Description: This parameter specifies the maximum ratio of the height difference to the reference height. If the ratio of the height difference to the reference height is below this threshold, the point cloud is eligible; otherwise it is not eligible.
Default value: 0.2500
Value range: 0–1
Tuning recommendation: Please set the value according to the actual situation.
Reference Height
Description: This parameter is used to set the reference height (in m).
Default value: 1.0000 m
Tuning recommendation: Please set the value according to the actual situation.

Note

  • If Lower Ratio Threshold < Height Difference/Reference Height < Upper Ratio Threshold, the point cloud is eligible.

  • If Height Difference/Reference Height > Upper Ratio Threshold, the point cloud is ineligible.

  • If Height Difference/Reference Height < Lower Ratio Threshold, the point cloud is ineligible.

Aspect Ratio Settings

\(Aspect Ratio = Length/Width\) \(Aspect Ratio Difference = Actual Aspect Ratio of the Point Cloud - Reference Aspect Ratio\)

Aspect Ratio Threshold
Description: This parameter is used to set the threshold of the ratio of the aspect ratio difference to the reference aspect ratio. If the ratio of the aspect ratio to the reference height is within the range “1 ± aspect ratio difference/reference aspect ratio”, the point cloud is eligible; otherwise it is not eligible.
Default value: 1.0000
Tuning recommendation: Please set the value according to the actual situation.

Note

  • If -(Aspect Ratio Threshold) < Aspect Ratio Difference/Reference Aspect Ratio < Aspect Ratio Threshold, the point cloud is eligible.

  • If Aspect Ratio Difference/Reference Aspect Ratio > Aspect Ratio Threshold, the point cloud is ineligible.

  • If Aspect Ratio Difference/Reference Aspect Ratio < -(Aspect Ratio Threshold), the point cloud is ineligible.