3D Trajectory Recognition
Function Description
This step integrates vision-processing functions such as point-cloud preprocessing and 3D matching to quickly complete workpiece recognition and generate trajectories.
Usage Scenario
This step is suitable for application scenarios where robot motion needs to be executed along workpiece surfaces or edges, such as welding, gluing, cutting, and grinding. It is usually preceded by Capture Images from Camera and followed by pose-adjustment steps.
Input and Output
Input
| Input Port | Data Type | Description |
|---|---|---|
Camera Depth Image |
Image/Depth |
Original depth image of workpieces. |
Camera Color Image |
Image/Color |
Original color image of workpieces. |
Output
| Output Port | Data Type | Description |
|---|---|---|
Workpiece Center Point |
Pose[] |
List of workpiece center points. |
Workpiece Name |
String[] |
Workpiece names. |
Raw Point Cloud |
PointCloud/XYZRGB |
Workpiece point cloud captured by the camera. |
Workpiece Confidence |
Number[] |
Confidence of workpieces. |
Point Cloud with Normals |
PointCloud/XYZNormal[] |
Workpiece point cloud with normals. |
Processed Point Cloud |
PointCloud/XYZNormal |
Preprocessed point cloud. |
Trajectory Points |
Pose[] |
List of workpiece trajectory points. |
Trajectory Point Tag |
String[] |
Trajectory point tags. |
Parameter Description
| Parameter | Description |
|---|---|
Select Workpiece |
Description: Select workpieces to be recognized from the drop-down list. Workpieces need to be added in the configuration wizard in advance. Adjustment instruction: Click Configuration Wizard (or the Configuration Wizard button on the step block) to enter the 3D Trajectory Recognition Tool. For usage, refer to 3D Trajectory Recognition Tool. |
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