Remove Poses outside Bin

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Function

Given the candidate poses (and corresponding point clouds) and the poses of the two sidewalls of bin, this Step calculates and outputs candidate poses (and their corresponding point clouds) in the bin.

Usage Scenario

This Step is used to remove poses outside the bin.

Input and Output

  • Input:

    1. Out-of-the-bin poses will be filtered out of the poses input by this port.

    2. Out-of-the-bin parts of point clouds input by this port will be filtered out.

    3. 3D center poses of the two sidewalls of the bin.

  • Output:

    1. Poses in the bin

    2. Point clouds corresponding to the poses in the bin

    3. Poses of the 3D diagonal points on the two sidewalls of the bin

    4. Point clouds outside the bin

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