Generate Path Given Depth Map

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Function

This Step generates inward spiraling path’s targets based on an object’s point cloud edge and depth map.

Usage Scenario

This Step is generally used for gluing the edges of flat objects.

Input and Output

  • Input:

    1. Object mask

    2. Scene depth map

    3. Object point cloud

  • Output:

    1. List of targets used to represent the generated path

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