Calc Poses and Dimensions from Planar Point Clouds

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Function

This Step calculates the poses of planar point clouds and the dimensions of the point cloud bounding boxes.

calc poses and dimensions from planar point clouds calc poses and sizes from planar point clouds

Usage Scenario

This Step is usually used to calculate pick points and dimensions of planar point clouds of objects such as cartons and sacks.

Before using this Step, please filter and cluster the point cloud to reduce the interference from unwanted points.

Input and Output

Input

Input port Data type Description

Point Clouds

PointCloud/XYZNormal[]

List of planar point clouds used to calculate poses and dimensions is input to this port.

Output

Output port Data type Description

Point Cloud Poses

Pose[]

Output the calculated pose list.

Box Dimensions

Size3D[]

Output a list of bounding box dimensions corresponding to the point cloud.

Parameter Description

Pose Calculation Settings

The selected Method to Calc Pose Center should correspond with the Method to Calc Pose Orientation.

  • When BoundingRectCenter is selected as the Method to Calc Pose Center, BoundingRectOrientation should be selected as the Method to Calc Pose Orientation.

  • When CloudCenter is selected as the Method to Calc Pose Center, CloudOrientation should be selected as the Method to Calc Pose Orientation.
Parameter Description

Method to Calc Pose Center

Description: This parameter specifies the center where the pose position is located.

Value list:

  • CloudCenter (Center of the point cloud): Select this method when the object point clouds scatter randomly, as shown in the left figure below. BoundingRectCenter (Center of the point cloud’s bounding box): Select this method when the object point clouds are evenly spread, as shown in the right figure below.

  • CloudCenter (Center of the point cloud): Select this method when the object point clouds scatter randomly, as shown in the left figure below.

Tuning recommendation: Please set the parameter according to the actual requirement.

Method to Calc Pose Orientation

Description: This parameter specifies the orientation of the pose.

Value list:

  • BoundingRectOrientation (Orientation of the bounding box center): Select this method when the object point clouds are evenly spread, as shown in the right figure above.

  • CloudOrientation (Orientation of the point cloud’s center): Select this method when the object point clouds scatter randomly, as shown in the left figure above.

Tuning recommendation: Please set the parameter according to the actual requirement.

Use Best Aligned Rect

Description: This parameter determines whether to use a bounding rectangle whose edges are as parallel as possible to the edges of the object. If this option is NOT selected, a minimum bounding rectangle will be used.
Default value: Unselected.
Tuning recommendation: Please set the parameter according to the actual requirement.

Align Search Radius

Description: This parameter determines whether the bounding rectangle aligns with the feature points of the object. The unit is pixels. When the distance between the feature point and the bounding rectangle is less than the value, the feature points are considered aligned with the bounding rectangle.

Default value: 3 px

This parameter will appear only after you select Use Best Aligned Rect.

Box Pose Calculation Settings

This parameter group is applicable to cartons only.
Parameter Description

Calc Boxes’ Height

Description: This parameter is used to calculate the carton’s height in the Z direction.
Default value: Unselected.
Tuning recommendation: Please select this parameter when you need to calculate the carton’s height in the Z direction.

Fixed Height for Box Bottom

Description: This parameter specifies the height of the carton base, such as conveyor belt and pallet on which the carton is placed, for facilitating the calculation of the carton’s height in the Z direction.

Default value: 0.000 mm

Tuning recommendation: Please set the parameter according to the actual requirement.

This parameter will appear only after you select Calc Boxes’ Height.

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