Port Configuration Tool
This section describes how to use the port configuration tool in the "Frame Transformation Calculator" Step.
Feature Overview
This tool is used to customize the input and output port structure of the "Frame Transformation Calculator" Step. By configuring known pose relationships between coordinate frames as input ports and specifying target pose relationships to be computed as output ports, the system automatically builds a frame relationship network and calculates required pose transformation results between coordinate frames. The number of ports and frame relationships can be adjusted flexibly based on actual project requirements.
Procedure
When using the "Frame Transformation Calculator" Step, input and output ports should be configured properly according to project requirements. The following sections describe how to configure input ports and output ports.
Configure Input Ports
Input ports are used to provide known pose relationships, that is, spatial transformations of one coordinate frame relative to another.
Each input port must specify names of the start frame and end frame to build the frame transformation network. In the input port configuration interface, you can add, edit, or delete input ports.
Configure Output Ports
Output ports are used to define target pose relationships between coordinate frames that need to be calculated.
Each output port must specify the start frame and end frame. Based on configured input port relationships, the system automatically calculates and outputs corresponding pose transformation results. In the output port configuration interface, you can add, edit, or delete output ports.
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When configuring input and output ports, note the following rules:
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Click OK to complete port configuration. The system automatically updates corresponding input and output ports.