3D Point Cloud Centroid

Definition of Centroid

The centroid of a point cloud is the "average position" of all points in space, which can be considered as the "center of gravity" of the point cloud. If we sum up the position coordinates of every point in the point cloud and divide by the total number of points, we obtain the coordinates of the centroid. The position of the centroid represents the "center" or balance point of the entire point cloud.

In 3D point cloud processing and computation, the centroid has many applications. For example, it can serve as a reference for point cloud alignment, helping to register or align point clouds in different coordinate systems.

Operator Function

Select the region of interest from the input point cloud based on ROI, then calculate the centroid of the ROI point cloud.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	The IM number for image input

Calculation Parameters

Parameter	Range	Default Value	Description	Illustration
Use Region Parameters	true/false	false	If enabled, use Region as input; if not enabled, use Input Image as input
Region	2D Window/Box	Box	Manually select an appropriate ROI region Can bind to select existing ROI regions. When input is an array, output will also be an array

Result Display

Parameter	Range	Default Value	Description	Illustration
ROI Point Set	true/false	false	Only effective when Use Region Parameters is selected; the point set of the ROI selected region; if enabled, displayed in the image
Centroid	true/false	false	Centroid point; 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
Pointe3D	point3d		3D point cloud centroid point coordinates When input is an array, output will also be an array

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution

Example Introduction

Engineering Design

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

2. Select the 3D Point Cloud Centroid 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. Select the region type as Box, move the box to the position to be measured, enclosing the point cloud to be measured.

Usage Tips

1. Use the ROI controller on the image window to drag or scale the box;
2. Directly modify the start or end coordinates of the box in the calculation parameters to adjust the box position and size;

3. Set parameters

4. Check the content you want to display in the result display section

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

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