# ExtractPoint3D

The ExtractPoint3D function Functions are tools that are available in Spreadsheet for processing and analyzing acquisitions or other results. You can add functions to your Spreadsheet job to create tool chains and produce results for specific applications. returns the highest and lowest points of the point cloud A point cloud is a 3D structure that consists of the data points collected by a 3D vision system during acquisition. relative to the specified reference plane, or within a configured 3D Region of Interest (ROI). It returns the extracted points in a Points3D structure.

Inputs

The ExtractPoint3D function has the following syntax:

ExtractPoint3D(PointCloud A point cloud is a 3D structure that consists of the data points collected by a 3D vision system during acquisition.,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 A fixture is a coordinate location on the image that keeps the tool in the place determined by the 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. Note: You can use the Fixture3D parameter to set the ROI fixture.
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: You can use Plane3D to mask data for training. The Plane3D function prevents the tool from taking any points that belong to that plane and are within the ROI. 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.

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)

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.