Target Object Selection and Recognition
After point cloud preprocessing is complete, select one or more bins from target object editor as bins to be recognized.
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If the Mech-Vision project is triggered by an external service, it is recommended to close the 3D Bin Recognition Tool before triggering. If the 3D Bin Recognition Tool remains open when the project is triggered, after switching visualization options below the visualization area, the visualization area and recognition report will not refresh. In this case, follow these steps:
After these steps, switch visualization options again to view recognition results and visualization output normally. |
Select Target Object
You can update bins from target object editor to this tool according to the guidance below, and then select bins to be recognized.
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If no bin exists in target object editor, select a target object configuration workflow and create a target object. After bin configuration is completed and saved, click Update target objects.
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If configured bins already exist in target object editor, click Update target objects directly.
Adjust Recognition Parameters
Different recognition parameters are required according to the bin configuration workflow used in target object editor.
Calculate Bin Pose by 3D Matching
If bins are configured in target object editor through "Get point cloud by camera" or "Import STL file", use the 3D matching method to calculate bin pose. This method is suitable for recognizing bins with irregular top surfaces and occlusions.
After selecting this method, set the following parameter.
| Parameter | Description |
|---|---|
Confidence threshold |
Description: If confidence of the matching result is greater than this threshold, the result is considered valid. The higher the confidence, the more accurate the matching result. Default value: 0.5000 Adjustment suggestion: It is recommended to first set this parameter to the default value and check runtime results. If false recognition occurs, increase this parameter appropriately; if missed recognition occurs, decrease this parameter appropriately. |
Calculate Bin Pose Directly
If bins are configured in target object editor through the "No point cloud model required" workflow, bin pose can be calculated directly. This method is suitable for bins with regular and flat top surfaces.
After selecting this method, set the following parameters.
| Parameter | Description |
|---|---|
Bin dimensions |
Description: Set bin length, width, and height. |
Bin pose offset |
Description: Adjust bin pose to bin center. Default value: 0.0000 mm Adjustment suggestion: In most cases, set this value to half of the bin height. After adjusting this value, rerun the project for the parameter adjustment to take effect. |
View Recognition Result
After setting the above parameters, click Run Step or Run project to view the running result.
After bin recognition is complete, click Next to go to the "General settings" workflow.