Extract Point Cloud from Mask List
Function: Extract point cloud with mask list
Input Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Pointcloud |
XYZPoints |
None |
None |
Pointcloud |
Detection Result Mask Graph List |
BinaryImage |
None |
None |
Detection Result Mask Graph List |
Output Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
List of point clouds after masking |
XYZPoints |
None |
None |
Outputs a list of masked point clouds |
Parameter Settings:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Type of shape |
String |
['minAreaRect', 'polygon', 'minMaxPoint','centerCirclr'] |
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, and both methods can expand the padding pixel size outward; if the value is polygon, the points in the corresponding area will be taken directly; if the value is centerCircle, the circular area point cloud of the specified radius will be taken through the center point position of the detection result |
| Type of shape | Parameter | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|---|
minAreaRect |
Border outer extended pixel |
Integer |
[-1000, 10000] |
10 |
Border outer extended pixel |
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 |
|
polygon |
Take only the edges of the mask |
Bool |
None |
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 |
|
minMaxPoint |
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 |
|
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 |
|
centerCirclr |
Circle radius scale |
Integer |
[0, 800] |
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 |