Detect Bin (Four Sides)
Usage Scenario
This Step is used to recognize regular four-sided bins and send the recognition results to external services for collision detection.
Input and Output
Parameter Description
Bin Size Settings
| Parameter | Description |
|---|---|
Bin Length |
Parameter description: The actual length of the bin. Default value: 500.000 mm |
Bin Width |
Parameter description: The actual width of the bin. Default value: 500.000 mm |
Bin Height |
Parameter description: The actual height of the bin. Default value: 0.000 mm |
Bin Location Settings
| Parameter | Description |
|---|---|
Height Diff from Box Center to Camera |
Parameter description: The distance from the box center to the camera. Default value: 0.000 mm |
Collision Model Settings
| Parameter | Description |
|---|---|
Bin Side Thickness |
Parameter description: The thickness of the bin sidewall. Default value: 10.000 mm |
Bin Side Thickness Tolerance |
Parameter description: Distance from inner contour of upper edge to the tank wall. Default value: 200.000 mm |
Corner Detection Settings
| Parameter | Description |
|---|---|
Min Corner Quality |
Parameter description: This parameter is used to set the minimum acceptable corner quality. Default value: 0.0100 |
Min Corner Distance |
Parameter description: Minimum possible Euclidean distance between the returned corners. Default value: 50 px |
Max Num of Corner Points |
Parameter description: Maximum number of corners to return. Default value: 4 |
Block Size |
Parameter description: Size of an average block for computing a derivative covariation matrix over each pixel neighborhood. Default value: 5 |
Use Harris Detector |
Parameter description: Select only when using Harris detector. Default value: Unselected |
K |
Parameter description: Harris detector free parameter. Default value: 0.04 |
| Parameter | Description |
|---|---|
Depth Search Range |
Parameter description: Depth search range. Default value: 5 |