Sort 3D Poses V2

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Function

This Step sorts 3D poses according to specified rules.

sort 3d poses functional description

Usage Scenario

This Step sorts poses according to specified rules for subsequent pose processing or picking strategy.

Input and Output

Input

Input port Data type Description

Poses

Pose[]

The poses that need to be sorted.

Output

Output port Data type Description

Sorted Poses

Pose[]

The sorted poses.

Mapped Indices

Index[]

The list of pose indices after sorting.

Parameters

Sort by None

Description

The input poses will not be sorted when you select “None” next to “Sort by.”

Parameters

Parameter Description

Show Point Cloud in Selected Frame

Parameter description: This parameter is used to select the reference frame that display the point cloud.
Value list: Robot Coordinate, Camera Coordinate.
Default value: Robot Coordinate.
Tuning instruction: Select this parameter according to actual situation.

Sort by S shape on plane

Description

Sort the poses in rows and columns based on the given reference pose (with priority given to sorting poses according to “Row Direction”). This method is usually used for unloading neatly arranged workpieces or depalletizing.

sort 3d poses v2 s

Parameters

Parameter Description

Row direction

Parameter description: This parameter is used to set the row direction when the poses are sorted on the plane.
Value list: Positive X-direction, Positive Y-direction, Positive Z-direction, Negative X-direction, Negative Y-direction, Negative Z-direction.
Default value: Positive X-direction.

Column direction

Parameter description: This parameter is used to set the column direction when the poses are sorted on the plane.
Value list: Positive X-direction, Positive Y-direction, Positive Z-direction, Negative X-direction, Negative Y-direction, Negative Z-direction.
Default value: Positive Y-direction.

Row Interval

Parameter description: This parameter is used to set the interval (in mm) between rows when the poses are sorted on the plane.
Default value: 100.000 mm

Sort by Z shape on plane

Description

Sort the poses in rows and columns based on the given reference pose (with priority given to sorting poses according to “Row Direction”). This method is usually used for unloading neatly arranged workpieces or depalletizing.

sort 3d poses v2 z

Parameters

Parameter Description

Row direction

Parameter description: This parameter is used to set the row direction when the poses are sorted on the plane.
Value list: Positive X-direction, Positive Y-direction, Positive Z-direction, Negative X-direction, Negative Y-direction, Negative Z-direction.
Default value: Positive X-direction.

Column direction

Parameter description: This parameter is used to set the column direction when the poses are sorted on the plane.
Value list: Positive X-direction, Positive Y-direction, Positive Z-direction, Negative X-direction, Negative Y-direction, Negative Z-direction.
Default value: Positive Y-direction.

Row Interval

Parameter description: This parameter is used to set the interval (in mm) between rows when the poses are sorted on the plane.
Default value: 100.000 mm

Sort by X value of pose

Description

Sort all poses by X value of the pose. You can switch between ascending and descending order.

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of X values from smallest to largest.
Default value: selected.

Sort by Y value of pose

Description

Sort all poses by Y value of the pose. You can switch between ascending and descending order.

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of Y values from smallest to largest.
Default value: selected.

Sort by Z value of pose

Description

Sort all poses by Z value of the pose. You can switch between ascending and descending order.

sort 3d poses v2 xyz

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of Z values from smallest to largest.
Default value: selected.

Sort by Distance from pose to reference pose

Description

This sorting method calculates distances from all poses to be sorted to the reference pose and sort the poses according to the distance.

sort 3d poses v2 ref point distance

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of their distances to the reference pose from shortest to longest.
Default value: selected.

Sort by Distance from pose to reference pose on XOY plane

Description

Project poses to be sorted and the specified reference pose onto the XOY plane, calculate the distances from poses to the reference pose on the plane, and then sort the poses according to the distance.

sort 3d poses v2 soy distance

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of their distances to the reference pose from shortest to longest.
Default value: selected.

Sort by Pose confidence values

Description

This sorting method sorts poses according to the corresponding confidence. You can switch between ascending and descending order.

sort 3d poses v2 confidence

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of their confidence values from smallest to largest.
Default value: selected.

Sort by Projection of pose in reference direction

Description

Project the pose onto the axes of the reference pose, calculate the projection distance, and then sort the poses according to the distance.

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of projection distances from shortest to longest.
Default value: selected.

Reference direction

Parameter description: This parameter is used to select the axis of the reference pose and its direction used for pose projection.
Value list: Positive X-direction, Positive Y-direction, Positive Z-direction, Negative X-direction, Negative Y-direction, Negative Z-direction.
Default value: Positive X-direction.

Sort by Cuboid diagonal lengths

Description

Calculate the diagonal lengths according to the input cuboid size, and then sort the poses according to the diagonal lengths. This sorting method is usually used in the carton depalletizing scenarios.

Parameters

Parameter Description

Ascending

Parameter description: Once this option is selected, the poses will be sorted in order of the diagonal lengths from shortest to longest.
Default value: selected.

Sort by Two Dimensions

Description

This sorting method sorts poses according to the information of the two dimensions. Poses are first sorted according to the primary dimension, then grouped into layers based on the interval you set. Within each layer, poses are further sorted by the secondary dimension. You can switch between ascending and descending order. The dimension values can be any numeric attributes, such as object height or angle.

sort 3d poses v2 two dimension

Parameters

Parameter Description

Layer Interval for Primary Dimension

Parameter description: This parameter is used to set the interval used when grouping by the primary dimension.
Default value: 0.1000

Sort Primary Dimension in Ascending Order

Parameter description: When selected, poses are sorted in ascending order based on the values of primary dimension.
Default value: selected.

Sort Secondary Dimension in Ascending Order

Parameter description: When selected, poses within each layer are sorted in ascending order based on the values of secondary dimension.
Default value: selected.

Show Point Cloud in Selected Frame

Parameter description: This parameter is used to select the reference frame that display the point cloud.
Value list: Robot Coordinate, Camera Coordinate.
Default value: Robot Coordinate.
Tuning instruction: Select this parameter according to actual situation.

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