Load Targets in Path and Apply Affine Transform

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Function

This Step loads the targets of a path and transforms the targets from the camera reference frame to the robot reference frame.

Usage Scenario

This Step is usually used in door/glass gluing applications.

Input and Output

  • Input:

    1. Rigid body transformation matrix input to this port will be used for transformation between reference frames.

    2. Scene point cloud. For adjusting targets to the point cloud surface (if the parameter “Refine Poses” is set to True).

  • Output:

    1. Targets after reference frame transformation

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