Sort 3D Poses

Function

Sort the 3D poses according to specified rules.

../../../../_images/functional_description15.png

Sample Scenario

Sort the poses output from other Steps according to the required rules for subsequent pose processing or robot trajectory planning.

Input and Output

../../../../_images/input_output_09.png

Parameters

sort strategy

sortMethod

Default Value: NONE
List of Values: NONE, SORT_BY_X, SORT_BY_Y, SORT_BY_Z, SORT_BY_DIS2BasePt, SORT_BY_DIS2BasePtOnXYPlane, SORT_BY_CONFIDENCE, SORT_BY_CUSTOM_DIR
Instruction: SORT_BY_X, SORT_BY_Y, and SORT_BY_Z refer to sorting poses according to the length of corresponding componet along X, Y, and Z axes. SORT_BY_DIS2BasePt means sorting poses according to the distance between the pose and the base point. To use this method, setting the base point in the below part is necessary. SORT_BY_DIS2BasePtOnXYPlane is sorting poses according to the projection length of the line connecting the pose to the base point in the XY plane. SORT_BY_CONFIDENCE is sorting pose according to the confidence, and this method requires the second input. SORT_BY_CUSTOM_DIR is customized direction sorting, which need to modify the custom direction in the below.

isAscending

Default Value: True
List of Values: True, False
Instruction: Whether the pose is ranked in ascending order of parameters.

base_point

baseX

Default Value: 0
Instruction: X coordinate value of the base point.

baseY

Default Value: 0
Instruction: Y coordinate value of the base point.

baseZ

Default Value: 0
Instruction: X coordinate value of the base point.

custom_direction

dirX

Default Value: 0
Instruction: X-axis direction vector.

dirY

Default Value: 0
Instruction: Y-axis direction vector.

dirZ

Default Value: 1
Instruction: Z-direction direction vector.