Sort 3D Poses

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Function

Sort the 3D poses according to specified rules.

sort 3d poses functional description

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

sort 3d poses input and output

Parameter Description

Sorting Strategy Settings

Sort Method

Description: Select a pose sorting 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, and SORT_BY_DIAGONAL_LENGTH.

Instructions:

  • SORT_BY_X: Sort the poses and scores by the X value of the pose translation. Please refer to the tuning example for the corresponding result.

  • SORT_BY_Y: Sort the poses and scores by the Y value of the pose translation. Please refer to the tuning example for the corresponding result.

  • SORT_BY_Z: Sort the poses and scores by the Z value of the pose translation. Please refer to the tuning example for the corresponding result.

  • 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. Please refer to the tuning example for the corresponding result.

  • 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. Please refer to the tuning example for the corresponding result.

  • SORT_BY_CONFIDENCE: Sort the poses and scores by the score criteria. When this option is selected, you need to input the sorting score. Please refer to the tuning example for the corresponding result.

  • 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. Please refer to the tuning example for the corresponding result.

  • 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. Please refer to the tuning example for the corresponding result.

Ascending

Default setting: selected.

Instruction: Select to sort in ascending order according to actual requirements.

Tuning Examples

SORT_BY_X

The sorting result is shown in the figure below (in descending order).

sort 3d poses sort by x

SORT_BY_Y

The sorting result is shown in the figure below (in descending order).

sort 3d poses sort by y

SORT_BY_Z

The sorting result is shown in the figure below (in descending order).

sort 3d poses sort by z

SORT_BY_DIS2BasePt

When the input reference pose is [−1,−1,−1], the sorting result is shown in the figure below (in descending order).

sort 3d poses sort by dis2 base pt

SORT_BY_DIS2BasePtOnXYPlane

When the input reference pose is [−1,−1,0], the sorting result is shown in the figure below (in descending order).

sort 3d poses sort by dis2 base pt on xy plane

SORT_BY_CONFIDENCE

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 (in descending order).

sort 3d poses sort by confidence

SORT_BY_CUSTOM_DIR

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 (in descending order).

sort 3d poses sort by custom dir

SORT_BY_DIAGONAL_LENGTH

When the input diagonal lengths are a, b, and c, respectively, and c > a > b, the sorting result is shown in the figure below (in descending order).

sort 3d poses sort by diagonal length

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