🔷Dynamic ROI Generation

Function Description

This operator can define a standard ROI relative to model or scene point clouds, then apply it to all matched model instances.

Usage Scenarios

  • Multi-Target Region Definition : When multiple object poses are obtained through matching or other methods, it’s necessary to define ROIs of the same size and relative orientation for each object.

  • Pose-Based Region Filtering : Based on identified object poses, precisely filter scene point clouds around each object.

Input Output

Input

ROI Reference Point Pose: Input pose list defining the initial center and orientation of each dynamic ROI.

Scene Point Cloud (Optional): Input scene point cloud or point cloud list to be filtered.

DynamicRoiGenerate input

Output

3D ROI: List of dynamically generated ROIs based on input poses and template ROI.

ROI Filtered Point Cloud: If scene point clouds are input, outputs point cloud list filtered using dynamic ROIs; otherwise this output is empty.

DynamicRoiGenerate output

Parameter Description

This operator has two versions:

  • Dynamic ROI Generation : Processes scene point clouds without normal information.

  • Dynamic ROI Generation (with Normals) : Processes scene point clouds with normal information.

Both have basically identical core functionality and parameters, differing only in the type of point cloud data processed.

At least provide one valid model file or one valid scene point cloud. If both are missing, an error will be reported and the operation cannot run.

Model Point Cloud File

Parameter Description

Specify a model point cloud file (.ply format). If this file is provided, the operator will load it during initialization, mainly used to assist users in configuring "3D ROI" parameters in the interface to match model dimensions.

Note: Non-required parameter, the operator doesn’t strictly require this model to exist at runtime, but at least one of input scene point cloud and this model file must be provided.

Parameter Adjustment

If you want to define template ROI based on a specific model, select the corresponding .ply file. If no model reference is needed, this can be left unset, but ensure there is scene point cloud input at runtime.

3D ROI

Parameter Description

Define template ROI. During runtime, the operator will transform the template ROI according to each input reference point pose to generate final dynamic ROIs.

Parameter Adjustment

Besides directly inputting ROI parameters, it’s more recommended to click the "eye" button in the upper right corner of the parameter settings panel to open the view window for visual ROI configuration, which is more convenient and intuitive.

DynamicRoiGenerate 2

Keep Order

Parameter Description

Controls whether output point clouds maintain the original structure of input.

Parameter Adjustment

Disable (Default): Don’t keep order. Output only contains points inside ROI (or outside if reverse is enabled), discarding invalid points, point cloud becomes an unordered point list. Suitable for most point cloud processing scenarios, especially when subsequent steps only process valid point coordinates without needing original structure. Output data volume is usually much smaller than keeping original structure (containing many invalid points), making subsequent processing faster.

DynamicRoiGenerate output

Enable: Keep order. Output point cloud shape is the same as input, points falling outside ROI range are marked as invalid points, but they still occupy their original positions, preserving original adjacency relationships between points. Suitable for scenarios where subsequent processing needs to utilize spatial adjacency relationships of point clouds for image processing operations.

DynamicRoiGenerate 3

Keep Original Size

Parameter Description

Only takes effect when "Keep Order" is enabled and input point cloud has ordered structure. Controls whether to crop rows and columns that are entirely invalid points while maintaining ordered structure.

Parameter Adjustment

  • Enable (Default): Maintain original dimensions even if some regions become entirely invalid points due to ROI filtering.

  • Disable: While maintaining 2D structure, remove rows and columns that become entirely invalid points due to ROI filtering, resulting in a possibly smaller but still ordered point cloud.

Enable Reverse

Parameter Description

Reverse filtering logic.

Parameter Adjustment

Disable (Default): Keep points inside ROI, remove points outside ROI.

DynamicRoiGenerate output

Enable: Keep points outside ROI, remove points inside ROI. Suitable for removing interference from specific regions.

DynamicRoiGenerate 5

Multi-ROI Result Splitting

Parameter Description

Only takes effect when "Enable Reverse" is disabled. Controls how to handle results when the same input point cloud is filtered by multiple ROIs with multiple ROI inputs.

Parameter Adjustment

  • Disable (Default): Merge results. If an input point cloud intersects with multiple ROIs, all points falling inside these ROIs will be merged into one output point cloud.

  • Enable: Split results. If an input point cloud intersects with multiple ROIs, each ROI will produce a separate output point cloud, i.e., one input point cloud may output multiple point clouds based on the number of ROIs it intersects with.

Enable Node

Parameter Description

Controls whether this operator performs operations.

Parameter Adjustment

Enable (Default): Normally run this operator’s functions.

DynamicRoiGenerate output

Disable: The operator performs no operations and directly outputs input data.

DynamicRoiGenerate 7