Sort 3D Poses

Function

Sort the 3D poses according to specified rules.

../../../../_images/functional_description17.png

Usage Scenario

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

Input and Output

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

Parameter Description

Sorting Strategy Settings

Sort Method
Default setting: NONE
Options: SORT_BY_X, SORT_BY_Y, SORT_BY_Z, SORT_BY_DIS2BasePt, SORT_BY_DIS2BasePtOnXYPlane, SORT_BY_CONFIDENCE, SORT_BY_CUSTOM_DIR, SORT_BY_DIAGONAL_LENGTH
Descriptions:

  • SORT_BY_X: Sort the poses and scores by the X value of the pose translation. The sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_x.png

  • SORT_BY_Y: Sort the poses and scores by the Y value of the pose translation. The sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_y.png

  • SORT_BY_Z: Sort the poses and scores by the Z value of the pose translation. The sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_z.png

  • SORT_BY_DIS2BasePt: Sort the poses and scores by the distance between the reference pose and the input pose. You need to set a reference pose when this option is selected. When the input reference pose is [-1,-1,-1], the sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_dis2_base_pt.png

  • SORT_BY_DIS2BasePtOnXYPlane: Sort the poses and scores by the distance between the reference pose and the input poses on the XY plane. You need to set a reference pose when this option is selected. When the input reference pose is [-1,-1,0], the sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_dis2_base_pt_on_xy_plane.png

  • SORT_BY_CONFIDENCE: Sort the poses and scores by the score criteria. When this option is selected, you need to input the sorting score. When the input scores of the poses are a, b, and c respectively, and c > a > b, the sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_confidence.png

  • SORT_BY_CUSTOM_DIR: Sort the poses and scores by the pose translation along a customized direction. When this option is selected, you need to specify a reference direction. When the values of specified reference directions X, Y, and Z are set to 0, 0, and 1 respectively, the sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_custom_dir.png

  • SORT_BY_DIAGONAL_LENGTH: Sort the poses and scores by the diagonal length of the input dimensions. When this option is selected, you need to input the object dimensions. When the input diagonal lengths are a, b, and c respectively, and c > a > b, the sorting result is shown in the figure below (by descending order).

    ../../../../_images/sort_by_diagonal_length.png
Ascending
Default setting: Select
Instruction: Select to sort by ascending order according to actual requirements.