Remove Overlapped Objects Lite

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Function

This Step is used to remove overlapped objects, i.e., when multiple vision results exist at the same position of a workpiece, ineligible vision results can be removed by adjusting parameters.

Usage Scenario

This Step is usually used after 3D Fine Matching Lite (recommended) or 3D Fine Matching to remove overlapped objects that are not suitable for picking.

Input and Output

Input

Input port	Data type	Description
Object Poses	Pose[]	List of original object poses.
Object Point Clouds (with normals if surface)	PointCloud/XYZNormal[]	List of original object point clouds.
Scene Point Cloud	PointCloud/XYZNormal -	List of scene point clouds, which are used in scenarios where the target object recognition is missed or the target objects are overlapped by the partition or bin (optional). If an edge model is used, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Input port

Data type

Description

Object Poses

Pose[]

List of original object poses.

Object Point Clouds (with normals if surface)

PointCloud/XYZNormal[]

List of original object point clouds.

Scene Point Cloud

PointCloud/XYZNormal -

List of scene point clouds, which are used in scenarios where the target object recognition is missed or the target objects are overlapped by the partition or bin (optional). If an edge model is used, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Output

Output port	Data type	Description
Filtered Object Poses	Pose[]	List of poses after the overlapped objects are removed.
Filtered Object Point Clouds	PointCloud/XYZNormal[]	List of point clouds after the overlapped objects are removed.
Overlap Ratios	Number[]	List of objects' overlap ratios.
Judgment Result	Bool[]	Boolean list (True: object is not overlapped; False: object is overlapped).

Output port

Data type

Description

Filtered Object Poses

Pose[]

List of poses after the overlapped objects are removed.

Filtered Object Point Clouds

PointCloud/XYZNormal[]

List of point clouds after the overlapped objects are removed.

Overlap Ratios

Number[]

List of objects' overlap ratios.

Judgment Result

Bool[]

Boolean list (True: object is not overlapped; False: object is overlapped).

Parameters

Parameter	Description
Parameter Tuning Level	Description: This parameter is used to set the tuning level of the parameters. The parameters in different tuning levels are different. Value list: Basic, Advanced Instruction: If the Parameter Tuning Level is set to Basic, please complete parameter settings under “Object Model Type” and “Threshold Setting”. If the Parameter Tuning Level is set to Advanced, parameter settings under Advanced Settings will also need to be configured.

Parameter

Description

Parameter Tuning Level

Description: This parameter is used to set the tuning level of the parameters. The parameters in different tuning levels are different.
Value list: Basic, Advanced
Instruction: If the Parameter Tuning Level is set to Basic, please complete parameter settings under “Object Model Type” and “Threshold Setting”. If the Parameter Tuning Level is set to Advanced, parameter settings under Advanced Settings will also need to be configured.

Object Model Type

Parameter	Description
Object Model Type	Description: This parameter is used to select the type of the object’s point cloud model. Value list: Surface model, Edge model Instruction: Select the type of the point cloud model according to the actual requirements. If Edge model is selected, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Parameter

Description

Object Model Type

Description: This parameter is used to select the type of the object’s point cloud model.
Value list: Surface model, Edge model
Instruction: Select the type of the point cloud model according to the actual requirements. If Edge model is selected, please input the scene point cloud that represents the entire surface of the object instead of the scene point cloud that represents the extracted edges only.

Threshold Settings

Parameter

Description

Overlap Ratio Threshold

Description: The threshold of the overlap ratio between the object and other objects. If the overlap ratio is above this value, the object will be considered overlapped.

Overlap Ratio = Projected Area of the Point Cloud Overlapping the Object / Projected Area of the Object Point Cloud Model

Default value: 30%

Advanced Settings

Parameter	Description
Method to Generate Pixel Size	Description: When the overlap ratio is calculated based on the 2D orthographic projection of the object point cloud, select the method to generate the size per pixel on the projected 2D image. Value list: Auto, Manual Auto: Automatically generate the size per pixel on the projected 2D image. Manual: Set the Pixel Size manually. Instruction: If the “Method to Generate Pixel Size” is set to “Auto”, the input point clouds must belong to the same object type. This feature does not support input point clouds of different object types. If the input point clouds belong to different object types, please adjust the “Method to Generate Pixel Size” to “Manual”.
Pixel Size	Description: Set the pixel size in millimeters. Default value: 2.5 mm Instruction: It is recommended to set the “Pixel Size” the same as the “Sampling Interval” when making the point cloud model. If the value is set too large, the accuracy of the calculated overlap ratio may be reduced. If the value is set too small, the calculated overlap ratio may be lower.
Range of Scene Point Removal around Object	Description: Within this range, points in the scene point cloud around the object will be removed, and the rest scene point cloud will be involved in the overlap detection. The unit is millimeters. Default value: 3 mm
Visualization Option	Description: This parameter is used to select the item that you want to visualize. Options: Filtered result: The scene point cloud is displayed in white, overlapped objects with overlap ratios above the threshold are displayed in red, and objects that are not overlapped are displayed in other colors. Object projection image: 2D image of an individual object after the projection. Background depth map without objects: The depth map of the background after objects are removed. Bounding box point cloud of edge model: Bounding box point cloud of the object’s edge model.

Parameter

Description

Method to Generate Pixel Size

Description: When the overlap ratio is calculated based on the 2D orthographic projection of the object point cloud, select the method to generate the size per pixel on the projected 2D image.

Value list: Auto, Manual

Auto: Automatically generate the size per pixel on the projected 2D image.
Manual: Set the Pixel Size manually.

Instruction: If the “Method to Generate Pixel Size” is set to “Auto”, the input point clouds must belong to the same object type. This feature does not support input point clouds of different object types. If the input point clouds belong to different object types, please adjust the “Method to Generate Pixel Size” to “Manual”.

Pixel Size

Description: Set the pixel size in millimeters.
Default value: 2.5 mm
Instruction: It is recommended to set the “Pixel Size” the same as the “Sampling Interval” when making the point cloud model. If the value is set too large, the accuracy of the calculated overlap ratio may be reduced. If the value is set too small, the calculated overlap ratio may be lower.

Range of Scene Point Removal around Object

Description: Within this range, points in the scene point cloud around the object will be removed, and the rest scene point cloud will be involved in the overlap detection. The unit is millimeters.
Default value: 3 mm

Visualization Option

Description: This parameter is used to select the item that you want to visualize.

Options:

Filtered result: The scene point cloud is displayed in white, overlapped objects with overlap ratios above the threshold are displayed in red, and objects that are not overlapped are displayed in other colors.
Object projection image: 2D image of an individual object after the projection.
Background depth map without objects: The depth map of the background after objects are removed.
Bounding box point cloud of edge model: Bounding box point cloud of the object’s edge model.

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