Overview

Input

• Segment result: segmentation result vector, either from segmentation node or DL segmentation node

• Scene cloud: scene point cloud to be cropped

Output

• segmentClouds: a vector of point cloud, representing the cropped point cloud for each segment

• segmentPoses: poses of each point cloud, if the scene cloud has normals (from cloud process node), this pose will represent the surface normal of the segment

Parameters

• Use Surface Centroid: whether to compute the centroid of the segmented point cloud when computing segmentPoses