3D Point Cloud Matching

Operator Function

Match based on the model within the scene point cloud, outputting the oriented bounding boxes of matching results.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	The IM number for image input
Model Path			Set the path to load the model

Calculation Parameters

Parameter	Range	Default Value	Description	Image
ICP Iteration Count	(0, 5000)	500	Number of iterations for ICP algorithm, range is (0, 5000)
Matching Point Pair Distance Threshold	(0, 100)	0.01	Point pair distance threshold during ICP iteration; point pairs exceeding this threshold will be ignored.
Matching Count	[1, 100]	1	Number of objects to be matched. Range is [1, 100]
Background Point Removal	true/false	false	Whether to remove background points
Distance Threshold	(0, 10)	0.005	Only required when Background Point Removal is enabled: Threshold for removing background points.

Result Display

Parameter	Range	Default Value	Description	Illustration
Minimum Bounding Box	true/false	false	Minimum bounding box of the object; if enabled, displayed in the image
Point Set	true/false	false	Template point cloud point set; if enabled, displayed in the image

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates there is a warning false indicates there is none
Message	string		Outputs success, error, or warning information; if there is no error or warning, it is empty
Time	float		Operator execution time, unit: ms
oriented_boxes	orientedbox		Minimum bounding boxes of matched objects

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Model file input parameter is empty		Select correct file path
2	{0} access not allowed	Model file path	Check if file path is correct
3	Cannot open {0} for reading	Model file path	Check if file is being used by other software
4	Matching failed		Check if matching point pair threshold is set too small

Example Introduction

Engineering Design

1. Select the Load 3D Point Cloud tool to load the 3D point cloud image to be processed into IM0.

2. Select the 3D Point Cloud Matching tool.

Tool Usage

1. Select the input image for operation; the image number must match the IM number where the image is located in the project.

2. Set Model File Path, Matching Point Pair Distance Threshold, Matching Count, and Background Removal parameters.

3. Click Test to check if the image window and parameters meet expectations.

Usage Tips

1. You can turn on the switches in the result display to observe if the results are correct.

4. If there are no issues, click Save, then run the operator in the run list to view the results in the corresponding IM.