Estimate Point Cloud Edges by 2D Method

Function Description

Extracts edges of point clouds from the input point cloud.

Use Cases

This step is commonly used in pick-and-place scenarios for planar workpieces to extract their point-cloud edges. It is often used together with 3D matching steps. Compared with 3D edge extraction methods, it runs faster and is better suited to scenarios with tight cycle times and heavy point-cloud noise.

Inputs

• Point Clouds with Normals: Point cloud used for edge estimation.

Outputs

• Point Cloud Boundary: Point cloud boundary extracted from the input point cloud.

Parameters

• 2D Line Width: Sets the edge width. Using the default value is recommended.

• Contour Retrieval Mode: Sets the type of edges to extract.

  • CV_RETR_EXTERNAL: Outermost edges of objects.

  • CV_RETR_LIST: All object edges. Use this mode when the outer contour is not distinct enough and all edges need to be extracted.

• Min Length: Minimum length of edges to extract. Edges smaller than this value will be filtered out. This parameter can be increased to filter out noise when there is more scene noise.

• Morph Kernel Size: Parameter used in image morphological processing. This parameter should be increased to fill holes when point cloud holes are large. This parameter should be decreased to enrich details when richer object details are needed.