Configure 3D ROI

Functional Description

Configure and adjust a 3D ROI. In the operator’s parameter panel, configure the ROI’s position, size, and orientation either by directly inputting ROI data or through visual drag-and-drop. At runtime, the operator will use the ROI ultimately configured in the parameters to crop the input point cloud.

Usage Scenarios

Adjusting ROI: Configure the ROI through input parameters or visual adjustment, rather than upstream input, for convenient debugging or templated configuration.

Inputs and Outputs

Input Items

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

Output Items

Point cloud after ROI cropping: List of point clouds cropped using the ROI configured in the parameters.

3D ROI: The ROI configured in the parameters.

Parameter Description

  • The main difference between this operator and the "Point Cloud ROI" operator is the source of the ROI: this operator’s ROI is directly configured by the user in the parameters, while the "Point Cloud ROI" operator’s ROI comes from upstream Epic Pro software.

  • This operator has two versions:

    • Configure 3D ROI : Processes point clouds without normal information.

    • Configure 3D ROI(with Normals) : Processes 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.

3D ROI

Parameter Description

Used to define the spatial extent and pose of the ROI. Can be input as data or adjusted visually.

Tuning Description

  • Input data directly, or paste data.

  • Click the "small eye" button in the upper right corner to open the editing view for visual editing.

Keep original size

Parameter Description

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

Tuning Description

  • Disabled (default): Does not maintain order, meaning the output point cloud only contains valid points inside (or outside, if reversed) the ROI, forming an unordered list of points.

  • Enabled: Maintains order, meaning the output point cloud shape is the same as the input, and points outside the ROI are filled with invalid NaN values. Note whether subsequent operators can handle NaN values.

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.

Merge Output Point Clouds

Parameter Description

When the input contains multiple point clouds, controls whether to merge all filtered results into a single point cloud output.

Tuning Description

  • Disabled (default): If the input is a list of point clouds, the output is also a list, where each element is the result of filtering the corresponding input point cloud with the ROI.

  • Enabled: If the input is a list of point clouds, all filtered point clouds (the result of applying the ROI to each input point cloud) are merged into one large point cloud output.