Refine Trajectory With Point Cloud
Function
This Step refines the original trajectory based on an actual point cloud so that the trajectory better fits the target object surface. It supports smoothing, sorting, and simplification to improve trajectory accuracy.
Usage Scenario
This Step is suitable for scenarios where the trajectory deviates from the target object surface, such as spraying, grinding, welding, and gluing, and needs refinement based on point cloud data.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Actual Point Cloud |
PointCloud |
The point cloud input at this port is used to refine the trajectory. |
Original Trajectory |
Pose[] |
The trajectory input at this port will be refined. |
Trajectory Point Info |
JsonValue |
Trajectory point information obtained from the target object editor. |
Parameter Description
| Parameter | Description |
|---|---|
Display Trajectory During Visualization |
Parameter description: When enabled, the refined trajectory can be viewed in the visualization output.
|
Exempt Trajectory Point Label |
Parameter description:This parameter is used to specify a trajectory point label to be exempted from refinement. Only one label is supported. |
Search Radius |
Parameter description: This parameter is used to specify the search range when searching in the point cloud for actual points near a trajectory point. A larger radius includes more point cloud data and yields a smoother result but may introduce noise. A smaller radius keeps the refined trajectory closer to the original but requires higher point cloud accuracy. |
Trajectory Smoothing
| Parameter | Description |
|---|---|
Gaussian Sigma |
Parameter description: This parameter is used to control the degree of smoothing. A larger value results in a smoother trajectory but may lose fine details.
|
Smoothing Radius |
Parameter description: This parameter specifies the window size (in number of points) used for smoothing. It determines how many trajectory points are considered during smoothing.
|
Distance Threshold |
Parameter description: Maximum distance allowed between the current trajectory point and its neighboring points for them to be included in smoothing. Neighboring points farther than this distance are excluded.
|
Trajectory Point Sorting
| Parameter | Description |
|---|---|
Angle Threshold |
Parameter description: This parameter is used to detect trajectory endpoints. A current trajectory point is considered an endpoint if the angles between its position vector and those of its neighboring points are all smaller than this threshold.
|
Trajectory Simplification
| Parameter | Description |
|---|---|
Max Deviation |
Parameter description: This parameter specifies the maximum allowable deviation between the original and simplified trajectory. A larger value results in fewer points but may cause shape distortion.
|
Min Distance to Retain |
Parameter description: If the distance between two neighboring points in the original trajectory exceeds this value, both points are retained.
|