Transform Poses for Gantry

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Function

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

Usage Scenario

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

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

If you use the wrong transform Step, the transformed poses will be incorrect and therefore incorrect pick points will be output.

Input and Output

Parameter Description

Parameter	Description
Transform Type	Parameter description: This parameter is used to select the type of pose transformation. Value list: CameraToRobot, RobotToCamera. CameraToRobot: Assuming that the object pose in the camera reference frame is Pose 1, when the transformation type is CameraToRobot, the transformed pose Pose2 in the gantry system reference frame will be output. Please refer to the tuning example for the corresponding result. RobotToCamera: Assuming that the object pose in the gantry system reference frame is Pose 1, when the transformation type is RobotToCamera, the transformed pose Pose2 in the camera reference frame will be output. Please refer to the tuning example for the corresponding result. Default value: CameraToRobot

Parameter

Description

Transform Type

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

Value list: CameraToRobot, RobotToCamera.

CameraToRobot: Assuming that the object pose in the camera reference frame is Pose 1, when the transformation type is CameraToRobot, the transformed pose Pose2 in the gantry system reference frame will be output. Please refer to the tuning example for the corresponding result.
RobotToCamera: Assuming that the object pose in the gantry system reference frame is Pose 1, when the transformation type is RobotToCamera, the transformed pose Pose2 in the camera reference frame will be output. Please refer to the tuning example for the corresponding result.

Transform Poses for Gantry

Function

Usage Scenario

Input and Output

Parameter Description

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