Extract Point Cloud Inside Cylinder

Function Description

Extracts point clouds within a specified cylinder. Point clouds outside the cylinder will be discarded.

Use Cases

General-purpose point cloud extraction step with no fixed application scenario.

Inputs

  • Point Cloud with Normals (Required): Original point cloud list.

  • Cylinder Pose (Required): Pose of the cylinder.

Outputs

  • Extracted Point Cloud: Extracted point cloud list.

Parameters

  • Shape Type: Extracts 3D points within this specified shape, including cylinder, hollow cylinder, and sector cylinder.

Z Direction Properties

  • Z Upper Limit: Maximum coordinate on the cylinder Z axis.

  • Z Lower Limit: Minimum coordinate on the cylinder Z axis.

Ring and Sector Radius Properties

  • Cylinder Radius: Radius of the cylinder base on the XY plane.

  • Inner Radius: Radius of the inner circle on the XY plane.

  • Outer Radius: Radius of the outer circle on the XY plane.

Sector Angle Properties

  • Start Angle: Angle where the sector starts on the XY plane.

  • End Angle: Angle where the sector ends on the XY plane.

Usage Settings for Input Point Cloud

  • Usage of Input Point Cloud

    • FirstOnly: All point clouds use the same cylinder region (based on the first point cloud).

    • All: Each point cloud has its own exclusive cylinder that precisely matches its position.