Extract Point Cloud Inside Cuboid

Function Description

This step is used to extract point clouds within a specified cuboid range and filter out point cloud data outside the range.

Use Cases

This is a general-purpose point cloud extraction step with no fixed application scenario.

Inputs

• Point Cloud (Required): Point cloud to be extracted.

• Box Pose (Required): Defines the position and pose of the cuboid center point.

• Half Length of Box on X Axis (Optional): Defines the half-length of the cuboid along the world coordinate system X axis, in millimeters (mm).

• Half Length of Box on Y Axis (Optional): Defines the half-length of the cuboid along the world coordinate system Y axis, in millimeters (mm).

• Half Length of Box on Z Axis (Optional): Defines the half-length of the cuboid along the world coordinate system Z axis, in millimeters (mm).

Outputs

• Extracted Point Cloud: Point cloud located inside the cuboid.

Parameters

Box Size Settings

• Half Length on X Axis

  Default value: 100 mm

  Adjustment description: This parameter defines the half-length of the box along the world coordinate system X axis, in millimeters (mm). This parameter takes effect when there is no input at the “Half Length of Box on X Axis” port.

• Half Length on Y Axis

  Default value: 100 mm

  Adjustment description: This parameter defines the half-length of the box along the world coordinate system Y axis, in millimeters (mm). This parameter takes effect when there is no input at the “Half Length of Box on Y Axis” port.

• Half Length on Z Axis

  Default value: 100 mm

  Adjustment description: This parameter defines the half-length of the box along the world coordinate system Z axis, in millimeters (mm). This parameter takes effect when there is no input at the “Half Length of Box on Z Axis” port.

Usage of Input Point Cloud

• OneToOne

  • Function: Matches point cloud list and box pose list in index order, and performs region extraction for each pair of point cloud and cuboid.

  • Applicable scenario: When the number of point clouds matches the number of cuboids and needs one-to-one processing.

  • Example: 3 point clouds + 3 poses -> Each point cloud is filtered using its corresponding cuboid.

• FirstToAll

  • Function: Combines the first point cloud with all box poses to obtain multi-region extraction results based on the same point cloud.

  • Applicable scenario: When a single point cloud needs to be repeatedly extracted using multiple cuboids at different positions.

  • Example: 1 point cloud + 3 poses -> The same point cloud is filtered by 3 different cuboids respectively.

• AllToFirst

  • Function: All input point clouds are uniformly extracted using the region defined by the first box pose.

  • Applicable scenario: When multiple point clouds need to be uniformly filtered using the same spatial range.

  • Example: 3 point clouds + 1 pose -> All point clouds use the same cuboid range.