Extract Point Cloud from Detection Results(with Normals)

Detection results

DetectInstance

None

{}

Returns a list of categories, scores, polygons, and angles

Pointcloud

NormalPoints

None

None

Point cloud, point cloud requirements can be the same dimension as the 2D map that generates the detection results

Pointcloud

NormalPoints

None

None

Point cloud, output the point cloud at the corresponding position of each 2D detection result

Type of shape

String

['minAreaRect', 'polygon', 'minMaxPoint', 'centerCircle']

minAreaRect

If the value is minMaxPoint, the corresponding point cloud will be taken according to the minimum and maximum points of the polygon, and the time consumed will be less. If the value is minAreaRect, the point cloud will be taken according to the minimum bounding box. Both methods can expand the size of the padding pixel outward; if the value is polygon, the point in the corresponding area will be taken directly. If the value is centerCircle, take the circular area point cloud of the specified radius by the center point position of the detection result

Border outer extended pixel

Integer

[-1000, 10000]

10

Border outer extended pixel

Wrap box X outward expansion in pixels

Integer

[-1000, 10000]

10

Wrap box X outward expansion in pixels

Wrap box outward Y expansion in pixels

Integer

[-1000, 10000]

10

Wrap box outward Y expansion in pixels

Circle radius scale

Float

[0.0, 800.0]

0.2

The ratio of the radius of the circle to the short edge relative to the bounding box. The larger the parameter value, the more point cloud points involved in normal estimation, the slower the calculation, so different thresholds need to be set according to different target sizes

Take only the edges of the mask

Bool

[True, False]

False

The image inside the mask is output by default, set to True to output the corresponding image area at the edge of the mask, only valid when the shape type is polygon

Edge thickness

Integer

[1, 50]

1

Edge thickness, only takes effect when only the mask edge switch is open

Turn on reverse

Bool

None

False

By default, the point cloud in the mask is output, and if it is set to True, the point cloud with all the corresponding point clouds of the mask removed will be output