Point Cloud Shape Detector

Note

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Function

This Step detects and outputs point clouds of a plane or cylindrical shape; the shape can be selected in the Step Parameters.

Usage Scenario

This Step is usually used to detect objects with flat and cylindrical shapes.

For calculating the pick points of cylinder point clouds, this Step can be followed by the Step Calc Cylinder Poses or the Step Adjust Poses by Offsets.

Input and Output

Parameters of Input and Output

Cloud(Normal)[]

[Input]inputted clouds

StringList-

[Input]the labels of inputted clouds

DoubleList-

[Input]the confidence of clouds

Cloud(Normal)[]

[Output]detected clouds of primitive shapes

ShapeInfoList

[Output]information of detected shapes

StringList

[Output]the labels of corresponding outputted clouds

DoubleList

[Output]confidence of corresponding clouds

Parameter Description

Shapes to Detect

Instruction: This parameter is used to choose the target shape type, plane, cylinder and sphere included.

Default setting: plane

Suggested setting: Set according to the actual scenarios.

Detection Settings

Detector

Instruction: This parameter is used to choose the type of detector used during detection, including Method 1 and Method 2.

Default setting: Method 1

Suggested setting: Method 1

Normal Deviation

Instruction: This parameter is used to set the upper limit of the angle difference (in °) between the normal of pointin the image and the normal of projected theoretically corresponding standard shape.

Default value: 30°

Suggested value: Set according to the actual scenarios.

Acceptable Point Cloud Fluctuation

Instruction: This parameter is the upper limit (in mm) of the acceptable range of the point cloud fluctuation error.

Default value: 5.000 mm

Suggested value: [3.000, 5.000]

Min Cluster Interval

Instruction: This parameter is the lower limit (in mm) of the interval of point cloud connectivity judgement.

Default value: 5.000 mm

Suggested value: Set according to the actual scenarios.

Point Cloud Quantization Resolution

Instruction: This parameter is used to control the number and intensity of points. Greater number and intensity correaponds to higher accuracy and longer computing time.

Default value: 5.000 mm

Suggested value: Usually twice the value of clusterEpsilon.

Number of Results per Point Cloud

Instruction: This parameter determines the number of final outputted result for every point cloud.

Default value: 1

Suggested value: Set according to the actual scenarios.

Sort by Point Counts

Instruction: This parameter decides whether to sort the final result according to the size of point cloud or not.

Default setting: True

Suggested setting: Set according to the actual scenarios.

Success Probability (0–1.0)

Instruction: This parameter is used to adjust the success rate of detection.

Default value: 0.9900

Suggested value: Set according to the actual scenarios.

Candidates Filter

Min Shape Point Count Ratio (0–1.0)

Instruction: This parameter is used to set the lower limit of the ratio between the detected points belonging to one shape and the total number of points with shape labels.

Default value: 0.1000

Suggested value: Set according to the actual scenarios.

Min Mead Dist Error (0–1.0)

Instruction: This parameter is used to set the lower limit of the mean distance deviation(in mm) between real points and the points of corresponding detected theoretical shape.

Default value: 10.000 mm

Suggested value: Set according to the actual scenarios.

Min Mean Angle Error (0–90)

Instruction: This parameter is used to set the lower limit of the mean angle deviation(in °) between real points and the points of corresponding detected theoretical shape.

Default value: 45.0000°

Suggested value: Set according to the actual scenarios.

Cylinder Property

Min Radius

Instruction: This parameter is used to set the lower limit of the cylinder(in m).

Default value: 0.0100

Suggested value: Set according to the actual scenarios.

Max Radius

Instruction: This parameter is used to set the upper limit of the cylinder(in m).

Default value: 0.1000

Suggested value: Set according to the actual scenarios.

Optimize Cylinder Positions

Instruction: This parameter decides whether to optimize the shape paramaters of cylinder, center point and axis included.

Default Setting: Unselected

Suggested Setting: Selected