Point Cloud Edge Detection - Ordered (Legacy)
Functional Description
This operator is specifically used to extract edge points from an input ordered point cloud with normals. It typically detects edges by comparing the depth values (Z-coordinates) between adjacent pixel points. It utilizes the ordered structure information of the point cloud for calculation. The operator can also choose whether to adjust the normal vector direction of the output edge points.
Usage Scenarios
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Suitable for scenarios requiring compatibility with legacy workflows.
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Depth Map Edge Detection: Extract edges formed by depth discontinuities, such as object contours or occlusion boundaries.
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Ordered Point Cloud Feature Extraction: Quickly extract edges from ordered point clouds.
Inputs and Outputs
Input Items |
With Normal Point Cloud : Input must be a point cloud or list of point clouds with normal vector information and an ordered structure. |
Output Items |
Point cloud edge: A list of point clouds composed of the extracted edge points (usually maintaining an ordered structure; non-edge points may be set to invalid values). |
Parameter Description
Minimum edge distance
Parameter Description |
Distance threshold used to determine depth discontinuities. If the depth difference (usually Z-coordinate) between adjacent points is greater than this value, an edge is considered to exist. |
Tuning Description |
Set based on the depth drop of the edges expected to be detected in the scene. Smaller values are sensitive to minor depth changes, while larger values only detect more significant depth changes. |
Parameter Range |
[0, 1000], Default: 50 |
Search window size
Parameter Description |
The window radius used for neighborhood comparison on the grid structure of the ordered point cloud. For example, a value of 1 means comparing the center point with its 8 directly adjacent points, forming a 3x3 window. Window size = (2 * radius + 1) * (2 * radius + 1). |
Tuning Description |
Defines the local neighborhood range considered for edge determination. Increasing this value will consider more distant neighbors, potentially making edges smoother. |
Parameter Range |
[0, 10000], Default: 1 |
Adjust edge normal
Parameter Description |
Choose whether to adjust the normal vectors of the edge points after extraction. |
Tuning Description |
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