Transform Feature Pose

This Step is used to transform the pose of a feature (e.g., point, circle, rectangle, oblong hole, cylinder) from one reference frame to another.

Additionally, this Step supports coordinate transformation for independent 3D pose data.

This Step applies to scenarios where feature poses need to be transferred or unified across different reference frames, such as those of the 3D camera, surface data, and robot. This Step is typically used for robot guidance, reference frame calibration, pose compensation, and subsequent measurement or picking processes.

Before using this Step, add the Structured-Light 3D Camera Step to the previous workflow and ensure that the hand-eye calibration results are applied. After the above configuration, the Transform Feature Pose Step can transform the feature or pose data between the surface data coordinate system, camera coordinate system, and robot coordinate system based on the hand-eye calibration result.

In the Mech-MSR, the data acquired by the Structured Light 3D Camera Step is not directly output in the camera reference frame, but is first transformed to the surface data reference frame. Therefore, when using this Step for fixed transformation, the reference frame mapping displayed in the interface essentially corresponds to a two-stage transformation process involving the camera reference frame.

The results in the camera reference frame are output as the intermediate features (camera reference frame) of the Step, allowing you to check the pose during the intermediate transformation stage.

Select the output item(s) to add the output port(s) to the Step, which outputs the specific data when the Step runs.