Generate 2D ROI from Point Cloud

Function: Generates a 2D ROI from a point cloud. Outputs a 2D ROI generated from the minimum and maximum position range on the point cloud where the z-value is not 0 and not NaN.

Input Parameters:

Name	Type	Valid Range	Default Value	Meaning
Pointcloud	XYZPoints	None	None	Generally input the point cloud that retains its original shape after the point cloud ROI, that is, it is necessary to ensure that the size of the input point cloud is W * H * 3, which is consistent with the size of the image to be cropped to generate the ROI.

Name

Type

Valid Range

Default Value

Meaning

Pointcloud

XYZPoints

None

Generally input the point cloud that retains its original shape after the point cloud ROI, that is, it is necessary to ensure that the size of the input point cloud is W * H * 3, which is consistent with the size of the image to be cropped to generate the ROI.

Output Parameters:

Name	Type	Valid Range	Default Value	Meaning
2D ROI	ROI2D	None	[{'min': [-2000, -2000], 'max': [2000, 2000]}]	Input is a 2*2 array, representing [{'min':[min_pixel_row, min_pixel_col],'max': [max_pixel_row, max_pixel_col]}].

Name

Type

Valid Range

Default Value

Meaning

2D ROI

ROI2D

None

[{'min': [-2000, -2000], 'max': [2000, 2000]}]

Input is a 2*2 array, representing [{'min':[min_pixel_row, min_pixel_col],'max': [max_pixel_row, max_pixel_col]}].