Create your own Procedure

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Customizing Procedures is supported.

This section will show you how to package Steps to create a customized Procedure Point Cloud Processing. The Steps From Depth Map to Point Cloud, Calc Normals of Point Cloud and Filter It, and Extract 3D Points in 3D ROI are needed to create the Procedure, and the packaging should be completed with Procedure.

Add Steps

  1. Locate Procedure in the Step library and drag it to the graphical programming workspace, as shown below.

    packaging step packagingstep1

  2. Click Procedure to enter the Step level and then connect the Steps as shown below.

    packaging step packagingstep2

Set the Input and Output of the Procedure

  • Input:

Double-click the input port of From Depth Map to Point Cloud. A short line with the number indicates that the port will be used as the input port of the Procedure.

packaging step packagingstep3

The sequence of clicking the port decides the sequence of the port being displayed on the Procedure.

The figure above shows the layout of the input ports of the Procedure when Camera Depth Image is clicked before Camera Color Image, while the figure below shows the layout when Camera Color Image is clicked before Camera Depth Image.

packaging step packagingstep4

Click the number on the port, press Delete or right-click the number and select Delete in the context menu to delete the port.

  • Output:

The method to set the output ports is the same as that of the input ports.

packaging step packagingstep5

Edit Procedure Parameters

After creating a Procedure, you can only change the name of it, as shown below.

packaging step packagingstepparameter1

To facilitate adjusting the parameters of the Procedure, you can select some key parameters of the Steps as the parameters of the Procedure.

  1. Right-click the Procedure and select Edit Procedure Parameters in the context menu.

    packaging step packagingstepparameter2

  2. In the pop-up Edit Procedure Parameters window, click + to open the Add a New Parameter window.

packaging step packagingstepparameter3

There are three Procedure parameters:

  • Step/Procedure Parameter (the one used here)

  • Custom Mapped Parameter

  • Custom Recipe Parameter

    1. Select a Step and its parameter in the window. As shown below, the Step Extract 3D Points in 3D ROI and its 3D ROI Settings parameter is selected. Click OK to save settings.

      You can select multiple parameters according to actual needs.
      packaging step packagingstepparameter4

    2. Now you can see the selected parameter in the Parameter List. Click Apply to apply the changes.

      packaging step packagingstepparameter5

    3. The selected parameter will appear in the Step Parameters window.

packaging step packagingstepparameter6

Save the Procedure

You can add the customized Procedure to the Custom directory in the Step library.

  1. Right-click the Procedure and select Save Procedure as Template in the context menu.

    packaging step packagingstepsave1

  2. Name the Procedure template.

    packaging step packagingstepsave2

    The name of the customized Procedure template cannot be the same as other existing Step/Procedure names.

  3. Click OK to save the name. Then you can see the newly added Procedure in the Custom directory in the Step library.

packaging step packagingstepsave3

To delete a customized Procedure, you can select the Procedure and press Delete, or right-click the Procedure and select Delete in the context menu.

packaging step packagingstepsave4

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