Refine Trajectory with Point Cloud
Function Description
This step optimizes original trajectories based on actual point clouds so that trajectories fit workpiece surfaces better. It supports operations such as smoothing, sorting, and simplification to improve trajectory accuracy.
Usage Scenario
This step is suitable for scenarios where trajectories are offset from workpiece surfaces, such as spraying, grinding, welding, and glue path applications, where trajectory refinement based on point clouds is required.
Input and Output
Input
| Input Port | Data Type | Description |
|---|---|---|
Actual Point Cloud |
PointCloud |
Point cloud entered at this port is used to refine trajectories. |
Original Trajectory |
Pose[] |
Trajectory entered at this port will be refined. |
Trajectory Point Information |
JsonValue |
Trajectory point information obtained from the object library. |
Parameter Description
| Parameter | Description |
|---|---|
Show Trajectory in Visualization |
Description: When enabled, refined trajectories can be viewed in visualization output of this step. Default value: Disabled. |
Label of Trajectory Point Not to Be Refined |
Description: After specifying a trajectory-point label, points corresponding to this label remain unchanged and are not processed. Only one trajectory-point label is supported. |
Search Radius |
Description: Defines the search range for finding actual points near trajectory points in point clouds. A larger radius includes more point-cloud information and yields smoother refinement results but may introduce noise; a smaller radius keeps results closer to original trajectories but requires higher point-cloud accuracy. |
Trajectory Smoothing
| Parameter | Description |
|---|---|
Gaussian Standard Deviation |
Description: Controls smoothing level. The larger the value, the smoother the trajectory, but details may be lost. Default value: 1.00 mm |
Smoothing Radius |
Description: Represents window size during smoothing and determines the range of trajectory points participating in smoothing calculation. Unit: point count. Default value: 5 |
Distance Threshold |
Description: Used to determine whether neighboring points around the target point to be smoothed participate in smoothing calculation. When distance between the target point and neighboring points exceeds this value, neighboring points are excluded from smoothing calculation. Default value: 10.00 mm Adjustment recommendation: Use the default value. |
Trajectory Point Sorting
| Parameter | Description |
|---|---|
Angle Threshold |
Description: Used to detect trajectory endpoints. When angles between position vectors of the current trajectory point and neighboring trajectory points are all smaller than this threshold, the current trajectory point is considered an endpoint. Default value: 80.00° |
Trajectory Simplification
| Parameter | Description |
|---|---|
Maximum Deviation |
Description: Maximum deviation allowed during trajectory simplification. A larger value removes more trajectory points but may distort trajectory shape. Default value: 0.30 mm |
Forced Keep Distance |
Description: If the distance between two trajectory points in the original trajectory is greater than this value, both points are retained. Default value: 10.00 mm |