# ExtractPoint3D

The ExtractPoint3D function returns the highest and lowest points of the point cloud relative to the specified reference plane, or within a configured 3D Region of Interest (ROI). It returns the extracted points in a Points3D structure.

## ExtractPoint3D Inputs

The ExtractPoint3D function has the following syntax:

ExtractPoint3D(PointCloud,Fixture3D,ExternalFixture,Region3D,ExternalRegion,ReferencePlane,Plane3D,ExternalPlane,Show)

See the table for a description of the available parameters.

Parameter | Description
PointCloud | Reference to a cell containing a point cloud. The default value is $A$0.
Fixture3D | Specifies the point cloud coordinate system in which the 3D fixture is defined. It is offset from the PointCloud origin in the following format with the following arguments: {X, Y, Z, Rotation, Tilt, TiltDirection}
X | Offset on the X-axis from the PointCloud origin.
Y | Offset on the Y-axis from the PointCloud origin.
Z | Offset on the Z-axis from the PointCloud origin.
Rotation | Specifies the in-plane rotation in degrees around the PointCloud Z-axis. The value range is -180 to 180. The tool normalizes external references with values outside the allowed range to the allowed range.
Tilt | Specifies the tilt angle in degrees from the PointCloud Z-axis after rotation. The value range is 0-180. External references with values outside the allowed range result in an error.
Tilt Direction | Specifies the direction of tilt in degrees from the rotated PointCloud X-axis of the tool, around the PointCloud Z-axis of the tool. The value range is -180 to 180. The tool normalizes external references with values outside the allowed range to the allowed range.
Note: The Fixture3D parameter is only available if you set External Fixture to 0.
External Fixture | Specifies a reference to a Fixture3D structure defined in another cell. The function uses the referenced cell as the fixture of the function. Set to 0 (OFF) to use the internal fixture of the function instead.
Region3D | Specifies the dimensions, offset and angle for 3D region of interest (ROI) of the function. It is offset from the Fixture3D origin in the following format with the following arguments: {SizeX, SizeY, SizeZ, X, Y, Z, Rotation, Tilt, TiltDirection}
SizeX | The size of the ROI along the Fixture3D X-axis.
SizeY | The size of the ROI along the Fixture3D Y-axis.
SizeZ | The size of the ROI along the Fixture3D Z-axis.
X | Offset on the X-axis from the Fixture3D origin.
Y | Offset on the Y-axis from the Fixture3D origin.
Z | Offset on the Z-axis from the Fixture3D origin.
Rotation | Specifies the in-plane rotation in degrees around the Fixture3D Z-axis of the tool. The value range is -360 to 360. The tool normalizes external references with values outside the allowed range to the allowed range.
Tilt | Specifies the tilt angle in degrees from the Fixture3D Z-axis of the tool after rotation. The value range is 0-180. External references with values outside the allowed range result in an error.
Tilt Direction | Specifies the direction of tilt in degrees from the rotated Fixture3D X-axis of the tool, around the Fixture3D Z-axis of the tool . The value range is -360 to 360. The tool normalizes external references with values outside the allowed range to the allowed range.
Note: This setting is only available if you set External Region to 0.
External Region | Specifies a reference to a 3D region defined in another cell. The function uses the referenced cell as the Region of Interest of the function. Set to 0 (OFF) to use the internal Box3D structure of the function as the ROI.
Reference Plane | Specifies the extraction mode: 0 = Region. In this mode, the function extracts the lowest and highest points found within a 3D ROI, specified with the Region3D or External Region parameter. This is the default setting. 1 = Plane. In this mode, the function extracts the lowest and highest points relative to the plane specified with the Plane3D or External Plane parameters.
Plane3D | Specifies the offset and the angle of the plane to use. It is offset from the PointCloud origin in the following format with the following arguments: {X, Y, Z, Tilt, TiltDirection}
X | Offset on the X-axis from the PointCloud origin.
Y | Offset on the Y-axis from the PointCloud origin.
Z | Offset on the Z-axis from the PointCloud origin.
Tilt | Specifies the tilt angle (in degrees) from the PointCloud Z-axis. The value range is 0-180. External references with values outside the allowed range will result in an error.
Tilt Direction | Specifies the direction of tilt (in degrees) from the plane's rotated PointCloud X-axis, about the tool's PointCloud Z-axis. The value range is -360 - 360. External references with values outside the allowed range will be normalized to the allowed range.
Note: This parameter is available only if External Plane is set to 0. Note: This parameter works only if the Reference Plane setting is set to Plane, and External Plane is not 0
External Plane | Specifies a reference to a Rectangle3D or Circle3D structure defined in another cell to be used by the function. Set to 0 (OFF) to use the function's internal Plane3D structure instead. Note: This parameter works only if the Reference Plane setting is set to Plane.
Show | Selects the type of graphics to overlay on the image.
0 = hide all (default) | All graphics are hidden, except when the cell containing the function is highlighted in the spreadsheet.
1 = result graphics only | The result graphics of the function are displayed at all times.
2 = input and result graphics | The region of interest, the input data and the results are displayed at all times.

## ExtractPoint3D Outputs

Returns | An Points3D data structure extracted from the point cloud, or #ERR if any of the input parameters are invalid.
Results | When initially inserted into a cell, the following functions are automatically inserted into the spreadsheet to create a result table.
| Min Height | Mean Height | Max Height | Min Point | Max Point
❒Points3D | GetMinHeight(Points3D) | GetMeanHeight(Points3D) | GetMaxHeight(Points3D) | GetMinPoint(Points3D) | GetMaxPoint(Points3D)

## ExtractPoint3D Vision Data Access functions

The following ExtractPoints3D Vision Data Access functions are automatically inserted into the spreadsheet to create the result table:

Function | Description
GetMaxHeight(Points3D) | Returns the height of the highest point as a floating-point number.
GetMaxPoint(Points3D) | Returns the highest point as a Point3D structure.
GetMeanHeight(Points3D) | Returns the height of the highest point as a floating-point number.
GetMinHeight(Points3D) | Returns the height of the lowest point as a floating-point number.
GetMinPoint(Points3D) | Returns the lowest point as a Point3D structure.

You can manually add the following ExtractPoints3D Vision Data Access functions into the spreadsheet to complement the result table:

Function | Description
GetCentroid(Points3D) | Returns the mean point from ExtractPoint3D as a Point3D structure.