Convert 2D Point to 3D Pose

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Function

This Step converts the 2D pose or 2D shape of a target object detected by a 2D camera into the 3D pose in the robot coordinate system by combining camera extrinsic calibration data with taught poses.

The left figure shows the taught reference pose for picking (P1), and the right figure shows the taught flange pose during capture (P2).

Usage Scenario

This Step is suitable for scenarios where a 2D vision system is used to locate target objects, and the localization results are used for robot picking, assembly, and other robotic operations. It is typically used after 2D Matching and 2DBlob Analysis, followed by Output Step or pose correction for assembly Step.

Input and Output

Input

Input port	Data type	Description
2D Pose	Pose2D[]	The 2D pose of the target object.
2D Shape	Shape2D[]	The 2D shape data of the target object, including contours, regions, or other geometric features. The system automatically extracts reference points from the shape for pose conversion.

Input port

Data type

Description

2D Pose

Pose2D[]

The 2D pose of the target object.

2D Shape

Shape2D[]

The 2D shape data of the target object, including contours, regions, or other geometric features. The system automatically extracts reference points from the shape for pose conversion.

Output

Output port	Data type	Description
3D Pose	Pose[]	The converted 3D pose, which can be sent to the robot for picking.

Output port

Data type

Description

3D Pose

Pose[]

The converted 3D pose, which can be sent to the robot for picking.

Parameter Description

Parameter	Description
Input Type	Parameter description: This parameter specifies the type of input data, including 2D target object pose and 2D target object shape.
Select Camera Step	Parameter description: Select a 2D camera Step with completed extrinsic calibration to ensure the calibration data is correctly applied to the current Step.
Reference Target Object 2D Pose	Parameter description: The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.
Reference Pose for Picking	Parameter description: The flange pose when the robot picks the reference object. This pose is the flange pose in the robot coordinate system read from the teach pendant.
Flange Pose during Capture	Parameter description: The flange pose of the robot at the image-capturing point in Eye-in-Hand scenarios. This pose is the flange pose in the robot coordinate system read from the teach pendant.
Obtain Flange Pose from Parameters	Parameter description: Once the communication is established, the "Obtain Flange Pose from Parameters" feature will be disabled automatically, and the entered robot flange pose will not be applied. Tuning instructions: If you want to re-enter the robot flange pose, please disconnect the communication and enable this feature again.
Flange Pose during Capture	Parameter description: Enter the robot flange pose when the camera actually captures images.
Robot Service Name in Communication Component	Parameter description: Enter the robot model name, which should be the same as the name of the robot connected in Mech-Center.

Parameter

Description

Input Type

Parameter description: This parameter specifies the type of input data, including 2D target object pose and 2D target object shape.

Select Camera Step

Parameter description: Select a 2D camera Step with completed extrinsic calibration to ensure the calibration data is correctly applied to the current Step.

Reference Target Object 2D Pose

Parameter description: The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.

Reference Pose for Picking

Parameter description: The flange pose when the robot picks the reference object. This pose is the flange pose in the robot coordinate system read from the teach pendant.

Flange Pose during Capture

Parameter description: The flange pose of the robot at the image-capturing point in Eye-in-Hand scenarios. This pose is the flange pose in the robot coordinate system read from the teach pendant.

Obtain Flange Pose from Parameters

Parameter description: Once the communication is established, the "Obtain Flange Pose from Parameters" feature will be disabled automatically, and the entered robot flange pose will not be applied.

Tuning instructions: If you want to re-enter the robot flange pose, please disconnect the communication and enable this feature again.

Flange Pose during Capture

Parameter description: Enter the robot flange pose when the camera actually captures images.

Robot Service Name in Communication Component

Parameter description: Enter the robot model name, which should be the same as the name of the robot connected in Mech-Center.

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Convert 2D Point to 3D Pose

Function

Usage Scenario

Input and Output

Input

Output

Parameter Description

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