Dynamic ROI Generation

Functional Description

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

Usage Scenarios

  • Multi-target Region Definition: After obtaining the poses of multiple objects through matching or other methods, define an ROI of the same size and relative orientation for each object.

  • Pose-based Region Filtering: Accurately filter the scene point cloud around each object based on the recognized object pose.

Inputs and Outputs

Input Items

roi reference point position and pose: Input list of poses, defining the initial center and orientation of each dynamic ROI.

Scene point cloud (Optional): Input scene point cloud or list of point clouds to be filtered.

Output Items

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

Point cloud after ROI: If a scene point cloud was input, this is the list of point clouds filtered using the dynamic ROI; otherwise, this output is empty.

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 essentially the same core functionality and parameters, only differing in the type of point cloud data they process.

At least one valid model file or one valid scene point cloud must be provided. If both are missing, an error will occur and the operator 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. This is mainly used to assist the user in configuring the "3D ROI" parameter in the interface to match the model dimensions.

Note: This is not a mandatory parameter. The operator does not require this model to exist at runtime, but at least one of the input scene point cloud or this model file must be provided.

Tuning Description

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

3D ROI

Parameter Description

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

Tuning Description

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

Stay organized

Parameter Description

Controls whether the output point cloud maintains the original input structure.

Tuning Description

  • Disabled (default): Does not maintain order. The output only contains points inside the ROI (or outside if reverse is enabled), discards invalid points, and the point cloud becomes an unordered list of points. Suitable for most point cloud processing scenarios, especially when subsequent steps only process valid point coordinates and do not require the original structure. The output data volume is usually much smaller than when maintaining the original structure (which includes many invalid points), resulting in faster subsequent processing.

  • Enabled: Maintains order. The shape of the output point cloud is the same as the input. Points outside the ROI range will be marked as invalid points, but they still occupy their original positions, preserving the original adjacency relationship between points. Suitable for scenarios where subsequent image processing operations need to utilize the spatial adjacency relationship of the point cloud.

Keep original size

Parameter Description

Effective only when "Stay organized" is enabled and the input point cloud has an ordered structure. Controls whether to crop rows and columns that are entirely invalid points while maintaining the ordered structure.

Tuning Description

  • Enabled (default): Maintains the original dimensions, even if some regions become entirely invalid points due to ROI filtering.

  • Disabled: While maintaining the 2D structure, removes rows and columns that have become entirely invalid points due to ROI filtering, resulting in a point cloud that may be smaller in size but still ordered.

Turn on reverse

Parameter Description

Inverts the filtering logic.

Tuning Description

  • Disabled (default): Retains the point cloud inside the ROI and removes the point cloud outside the ROI.

  • Enabled: Retains the point cloud outside the ROI and removes the point cloud inside the ROI. Suitable for removing interference in specific areas.

Multiple ROI result split

Parameter Description

Effective only when "Turn on reverse" is disabled. Controls how to process the results when the same input point cloud is filtered by multiple input ROIs.

Tuning Description

  • Disabled (default): Merges results. If an input point cloud intersects with multiple ROIs, all points falling within these ROIs will be merged into a single output point cloud.

  • Enabled: Splits results. If an input point cloud intersects with multiple ROIs, each ROI will generate a separate output point cloud. That is, 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 calculations.

Tuning Description

  • Enabled (default): The operator functions normally.

  • Disabled: The operator performs no operations and directly outputs the input data.