Common Procedures¶
This chapter introduces commonly used procedures that are used in projects to achieve different functions by connecting different steps. The Mech-Vision software stores the commonly used procedures in a custom directory in the step library, which can be used according to actual needs of the project.
To package multiple steps, please see Procedure .
- 2D Rectangle Matching(Deep Learning)
- 2D Rectangle Matching(Non-deep Learning)
- 2D Sorting
- 3D Matching (High Precision)
- 3D Matching
- 3D Sorting
- 3D Boundary Extraction
- Apply Masks to Color Image
- Calc Color Image for Highest Layer
- Get Mask of the Highest Layer
- Calculate the Grasping Pose and Size of the Object
- Roughly Calculate Pick Points according to the Heat Map of Grasp Probability
- Accurately Calculate Pick Points According to Poses
- Calculate Pick Points According To The Heat Map Of Grasp Probability
- Object Classification (Mask Size)
- Filtering Operations
- Filter Out Point Clouds That Exceed The Limit
- Filter Out Point Clouds That Exceed The Limit After Sorting
- Filter Out Poses Out Of ROI
- Pick Points Filtering and Sorting
- Acquire RGB Images Based on Depth Images
- Procedure of Instance Segmentation
- Instance Segmentation (Colored Image)
- Instance Segmentation (Colored and Depth Image)
- Matching
- Point Cloud Preprocessing
- Predict The Heat Map Of Grasp Probability Of The Pick Points
- Refine The Pick Points By Point Clouds
- Save Images and Step Parameters
- Send The Point Clouds To Server
- Sort Pick Points
- Sort The Pick Points (within and between layers)