Transform Poses of Feature Points (Gantry)
Description
This Step is used to transform the feature points obtained from surface data into the machine coordinate system.
Usage Scenario
The Step must be used in conjunction with the N-Point Calibration for gantry function to establish the coordinate transformation between the surface data coordinate system and the machine coordinate system.
After the 3D Laser Profiler Step is used in the project to acquire surface data and the N-point calibration result is applied, you can connect this Step in a subsequent workflow to transform the feature point coordinates from the surface data coordinate system to the machine coordinate system.
Input Description
| Input Item | Description |
|---|---|
Feature Point List |
The points obtained from the surface data are expressed in the surface data reference frame. |
Parameter Description
| Parameter | Description |
|---|---|
TCP Offset |
Used to compensate for the offset of the tool center point (TCP) relative to the TCP of the calibration tool in actual scenarios. This parameter is commonly used in gluing scenarios: the gluing tool usually does not directly participate in calibration, and there is a fixed offset between its TCP and the calibration tool TCP. In general, if the actual working tool is the same as the calibration tool and their TCPs coincide, it is recommended to keep this value at 0. This category contains the following parameters:
|
Output Description
Select the output item(s) to add the output port(s) to the Step, which outputs the specific data when the Step runs.
| Output Item | Description |
|---|---|
Feature Point List |
The transformed points are expressed in the machine coordinate system. |
Point X Coordinates |
The X value of the feature point in the machine coordinate system after pose transformation. |
Point Y Coordinates |
The Y value of the feature point in the machine coordinate system after pose transformation. |
Point Z Coordinates |
The Z value of the feature point in the machine coordinate system after pose transformation. |