Transform Point Clouds for Gantry

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Function

This Step is used to transform the input point clouds to the camera reference frame or the gantry system reference frame and then output the transformed point clouds.

Usage Scenario

This Step is designed to transform the reference frame of point clouds in automated gantry system projects.

If you are using a robot other than the automated gantry system, please use the Transform Point Clouds Step.

If you use the wrong transform Step, the position of the point cloud after the transformation will be incorrect, and therefore incorrect pick points will be output.

Input and Output

transform point clouds for truss input and output 2

Parameter Description

Parameter Description

Transform Type

Parameter description: This parameter is used to select the type of point cloud transformation.

Options: CameraToRobot, RobotToCamera.

  • CameraToRobot: Transform the point clouds from the camera reference frame to the gantry system reference frame. Please refer to the tuning example for the corresponding result.

  • RobotToCamera: Transform the point clouds from the gantry system reference frame to the camera reference frame. Please refer to the tuning example for the corresponding result.

Default setting: CameraToRobot.

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