🟠 Extract Point Cloud from Mask List

Function Description

This operator extracts point clouds from regions covered by each mask from a corresponding ordered point cloud based on one or more input binary mask images. It traverses the input mask list, generates an independent point cloud for each mask, and finally outputs these point clouds in list form.

Usage Scenarios

After generating masks through image processing, this operator can be used to convert these 2D regions into corresponding 3D point clouds.

Input Output

Input

Point cloud: Ordered point cloud whose dimensions must be consistent with the input mask images.

Detection result mask image list: A list composed of one or more binary mask images.

Output

Masked point cloud list: A point cloud list where each point cloud element corresponds to one mask in the input mask list.

Parameter Description

This operator has two versions:

  • Extract Point Cloud from Mask List: Processes point clouds without normal information.

  • Extract Point Cloud from Mask List (with normals): Processes point clouds with normal information.

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

Minimum Bounding Box

Parameter Description

Extracts point clouds based on the minimum oriented bounding box of detection instances. Suitable for scenarios where object shapes are relatively regular, capable of enclosing targets with minimal rectangles.

Parameter Adjustment

  • Bounding box scaling ratio: Used to adjust the size of the extraction region. A value of 1 means using the original bounding box size, greater than 1.0 means expanding the bounding box (e.g., 1.1 means expanding by 10%), less than 1.0 means shrinking the bounding box (e.g., 0.9 means shrinking by 10%).

  • Enable reverse: Reverses extraction logic. Disabled means extracting point clouds inside the specified shape; enabled can be used to remove identified objects and retain background.

Mask

Parameter Description

Directly uses the precise pixel regions of masks to extract point clouds. High precision, capable of precisely extracting point clouds of arbitrarily shaped objects.

Parameter Adjustment

  • Extract mask edges only: Used to analyze object contour features. When enabled, the operator only extracts point clouds at mask contour edges, not the entire mask interior.

  • Edge thickness: Sets the pixel width of edge contours. The larger the value, the thicker the extracted edge point cloud band, containing more points.

  • Enable reverse: Reverses extraction logic. Disabled means extracting point clouds inside the specified mask; enabled can be used to remove identified objects and retain background.

Min Max Values

Parameter Description

Extracts point clouds based on axis-aligned bounding boxes (horizontal and vertical rectangles) of detection instances. Fastest computation speed, suitable for scenarios where precision requirements for extraction regions are not high.

Parameter Adjustment

  • Bounding box scaling ratio: Used to adjust the size of the extraction region. A value of 1 means using the original bounding box size, greater than 1.0 means expanding the bounding box (e.g., 1.1 means expanding by 10%), less than 1.0 means shrinking the bounding box (e.g., 0.9 means shrinking by 10%).

  • Enable reverse: Reverses extraction logic, defaults to disabled, when enabled can reduce extraction range.

Central Circular Region

Parameter Description

Mainly used to extract central point clouds for calculating point cloud center positions and normals.

Parameter Adjustment

Circle radius ratio: Defines the radius of the circular region, which is a proportion of the short side length of the detection instance bounding box. The larger the value, the larger the extracted circular region. If you want to obtain the core region of an object, you can use a smaller value; if you want to cover most of the object, increase this value.