Point Cloud ROI

Functional Description

This operator is used to crop or filter an input point cloud based on one or more 3D Regions of Interest (ROI). The operator retains points falling within these ROIs and removes points outside. It also provides options to control the structure of the output point cloud (whether to maintain the original ordered structure) and how to handle the interaction results of multiple ROIs with a single point cloud.

Usage Scenarios

  • Spatial Filtering: Retain only the point cloud within a specific area of the scene, such as points on a workbench, filtering out the surrounding environment.

  • Interference Removal: Define an ROI to enclose background or known interferences, then use the "Turn on reverse" feature to remove them.

  • Localized Processing: Extract the point cloud of a specific area on an object for fine analysis or processing.

  • Zoned Processing: Use multiple ROIs to segment the point cloud into different parts for separate subsequent processing.

Inputs and Outputs

Input Items

Pointcloud: Input point cloud or list of point clouds to be cropped.

3D ROI: A dictionary list of one or more ROIs, usually rotation vector + translation, defining the pose of the ROI.

Output Items

Point cloud after ROI cropping: List of point clouds after ROI cropping.

Parameter Description

This operator has two versions:

  • Point Cloud ROI : Processes point clouds without normal information.

  • Point Cloud ROI(with Normals) : Processes point clouds with normal information.

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

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.