🔷Point Cloud ROI

Function Description

This operator is used to crop and filter input point clouds according to one or more three-dimensional regions of interest (Region of Interest, ROI). The operator will retain points falling inside these ROIs and remove points outside. The operator also provides options to control the structure of output point clouds (whether to maintain original ordered structure) and how to handle interaction results between multiple ROIs and single point clouds.

Usage Scenarios

  • Spatial Filtering : Keep only point clouds within specific regions of the scene, such as point clouds on a worktop, filtering out surrounding environment.

  • Remove Interference : Define ROI to frame background or known interference, then use "Enable Reverse" function to remove them.

  • Local Processing : Extract point clouds from specific regions of objects for detailed analysis or processing.

  • Regional Processing : Use multiple ROIs to divide point clouds into different parts for separate subsequent processing.

Input Output

Input

Point Cloud: Input point cloud or point cloud list to be cropped.

3D ROI: Dictionary list of one or more ROIs, usually rotation vector + translation, defining ROI poses.

PointsROI input

Output

Cropped Point Cloud: Point cloud list after ROI cropping.

PointsROI output1

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, differing only in the type of point cloud data processed.

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.

  • 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.

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.

PointsROI output1

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

PointsROI 3

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.

PointsROI output1

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

PointsROI 5