Find Geometry Element
Function Description
This step locates specified geometric shapes in point clouds and outputs their poses, corresponding regions, and geometric parameters.
Use Cases
Suitable for scenarios that require identifying standard geometric features such as point cloud calibration, disordered grasping of simple workpieces, etc. Can quickly locate geometric elements such as planes, circles, spheres, and cylinders.
Inputs
Point Clouds: Original point cloud
Outputs
Pose List: Center pose list of the geometric body
Point Clouds: Point cloud region conforming to the geometric body
Percentages: Percentage of point clouds conforming to the geometric body in the total point cloud
Radius: Radius of the geometric body (only valid for sphere/cylinder)
Parameters
Geometry Types
Specifies the type of geometry to find:
Plane: Plane
Circle: Circle
Sphere: Sphere
Cylinder: Cylinder
Below are the specific parameter setting descriptions for the geometric bodies.
Plane
Maximum Iteration Times: Maximum number of attempts for the algorithm to randomly sample points to fit the model. The more times, the greater the probability of finding the optimal model, but the time consumption increases accordingly.
Distance Threshold: Tolerance range for determining whether a point belongs to the currently fitted model. When the distance from the point to the model is less than this threshold, it is regarded as an inlier (i.e., belonging to this geometric body), otherwise as an outlier. The larger the threshold, the more inclusive, but may lead to reduced fitting accuracy.
Circle
Maximum Iteration Times: Maximum number of attempts for the algorithm to randomly sample points to fit the model. The more times, the greater the probability of finding the optimal model, but the time consumption increases accordingly.
Distance Threshold: Tolerance range for determining whether a point belongs to the currently fitted model. When the distance from the point to the model is less than this threshold, it is regarded as an inlier (i.e., belonging to this geometric body), otherwise as an outlier. The larger the threshold, the more inclusive, but may lead to reduced fitting accuracy.
Sphere
Maximum Iteration Times: Maximum number of attempts for the algorithm to randomly sample points to fit the model. The more times, the greater the probability of finding the optimal model, but the time consumption increases accordingly.
Distance Threshold: Tolerance range for determining whether a point belongs to the currently fitted model. When the distance from the point to the model is less than this threshold, it is regarded as an inlier (i.e., belonging to this geometric body), otherwise as an outlier. The larger the threshold, the more inclusive, but may lead to reduced fitting accuracy.
Minimum Radius: Limits the minimum radius of the sphere to find. Spheres smaller than this value will be ignored.
Maximum Radius: Limits the maximum radius of the sphere to find. Spheres larger than this value will be ignored.
Cylinder
Maximum Iteration Times: Maximum number of attempts for the algorithm to randomly sample points to fit the model. The more times, the greater the probability of finding the optimal model, but the time consumption increases accordingly.
Distance Threshold: Tolerance range for determining whether a point belongs to the currently fitted model. When the distance from the point to the model is less than this threshold, it is regarded as an inlier (i.e., belonging to this geometric body), otherwise as an outlier. The larger the threshold, the more inclusive, but may lead to reduced fitting accuracy.
Minimum Radius: Limits the minimum radius of the cylinder to find. Cylinders smaller than this value will be ignored.
Maximum Radius: Limits the maximum radius of the cylinder to find. Cylinders larger than this value will be ignored.