Matching Model and Pick Point Editor

Location: Menu Bar ‣ Toolkit ‣Matching Model and Pick Point Editor

Hint

Matching Model and Pick Point Editor requires data and configurations of a Mech-Vision project to run. Therefore, please open the project for which you need to use Matching Model and Pick Point Editor first.

Matching Model and Pick Point Editor is often used in projects that require recognition of workpieces, such as machine tending. You can use Matching Model And Pick Point Editor to create point cloud models of the target objects, edit these models, and add pick points.

Point cloud model:

A point cloud of the target object, used as a model for matching. Mech-Vision compares the point clouds generated during project execution with this model to generate actual picking poses for the robot.

User Interface

The user interface of Matching Model and Pick Point Editor, as shown below, can be divided into four parts:

1. Menu Bar: including the File and Edit menus for saving, undoing, redoing, etc.

File Menu

Option	Description	Shortcut
Save	Save all files in the Lists to Project Folder/resource/model_editor	Ctrl+S
Exit	Exit Matching Model and Pick Point Editor	None

Edit Menu

Option	Description	Shortcut
Remove selected points	Delete the selected points from the point cloud	Del
Undo	Undo point deletion	Ctrl+Z
Redo	Redo point deletion	Ctrl+Y
Display Settings	Adjust the size of points, font size of pose label, pick point size, size of drag handles, and types of handles displayed	None

2. Toolbar: including buttons used in point cloud model generation, point cloud model editing, and pick point addition.

Only brief descriptions of each button is provided here. For detailed instructions of how to use these buttons, please refer to the chapters linked in General Workflow below.

Button	Description
	Generate a point cloud model from image acquired by the camera
	Import an existing point cloud file in PLY format
	Import a CAD model file in STL format
	Generate a point cloud of the CAD model’s surface
	Generate a point cloud of only the part visible in the current view of the CAD model’s surface
	Select points in the point cloud
	Merge point clouds
	Downsample a point cloud
	Add a pick point
	Add a pick point by teaching

3. Left side panel: including the Model Files List, CAD Files List, and the Parameters and Display pane.

Model Files List

All point cloud model files, pick point files, and geometric center files saved under Project Folder/resource/model_editor/matching_source are listed here.

Mouse action	Function
Click on next to a file name	Hide this file in the Visualizing Space. Clicking again makes the file visible.
Double-click a file name	Rename the file
Drag	Adjust the order of files in the list Dragging a pick point/geometric center onto a point cloud model associates the two
Right-click on a point cloud model	Can copy or delete this model
Right-click on a pick point/geometric center	Can copy, delete, or set this point as geometric center and/or pick point

Hint

If a point cloud model only has one pick point, then the “Set as geo. center” option in the right-click menu of this pick point cannot be unchecked.

CAD Files List

• All CAD model files saved under Project Folder/resource/model_editor/cad_files are listed here.

• Similar to the Model Files List, clicking on the next to a file name hides the file in the Visualizing Space. Clicking again makes the file visible.

• Right-clicking on a file name gives the option to remove the file from the List, but this will not delete the CAD file save in the above directory.

Parameters and Display Pane

The Parameters and Display pane is the region below the CAD Files List. When you select a point cloud model, a pick point/geometric center, or a CAD file, this Pane will display the functions corresponding to the type of file.

1. When a point cloud model is selected: this pane displays the dimensions of the model’s bounding box, and the Show bounding box and Cloud color options.

   • Check Show bounding box to show the bounding box of the selected point cloud model.

   • Double-click on the white rectangle next to Cloud color to change the display color of the point cloud model.

     Hint

     The display color of an imported color point cloud cannot be changed.

   

2. When a CAD file is selected: this pane displays the dimensions of the CAD model’s bounding box, and the Show bounding box option.

   • Check Show bounding box to show the bounding box of the selected CAD model.

   

3. When a pick point/geometric center is selected: this pane displays the Pose Editing Widget. For detailed description, please refer to Pose Editing Widget.

4. Visualizing Space: displaying the point cloud models and CAD files opened in Matching Model and Pick Point Editor, view adjustable.

You can adjust your view through the following mouse actions.

Mouse action	Function
Left-button drag	Rotate the view
Right-button drag or scroll	Zoom
Drag with the scroll wheel	pan the view

You can also use the buttons in the upper right of the Visualizing Space to achieve the following view adjustments.

Button	Description
	Zoom to fit, and center the selected file in the Visualizing Space
	View along the positive X-axis
	View along the negative X-axis
	View along the positive Y-axis
	View along the negative Y-axis
	View along the positive Z-axis
	View along the negative Z-axis

General Workflows

Depending on the method for adding pick point, there are two workflows for using Matching Model and Pick Point Editor:

1. Obtain pick point by moving the robot with the teach pendant: obtain the pick point first, and then generate the point cloud model, and edit the model last.

2. Add pick point directly in Matching Model and Pick Point Editor: generate the point cloud model first, and then edit the model, and add the pick point last.

The following chapters provide detailed instructions for each process:

• Generate Point Cloud Model
• Edit Point Cloud Model
• Add Pick Point

Relevant Steps

Some Steps need the files created in Matching Model and Pick Point Editor to run. You can create point cloud model files, pick point files, and geometric center files in Matching Model and Pick Point Editor.

• Steps that require point cloud model file(s) and pick point file(s): 3D Coarse Matching, 3D Coarse Matching (Multiple models), 3D Fine Matching, and 3D Fine Matching (Multiple Models).

• Step that requires a pick point file and a geometric center file: Map to Multi Pick Points.