Validate Box Object Masks
Function
This Step determines whether the masks of the boxes meet the requirements according to specified rules and outputs a list of the masks that meet the requirements, thus removing objects that do not meet the box features.
Usage Scenario
This Step is usually used for box depalletizing. It is recommended to use this Step after the Mask Segmentation Step to verify the validity of masks.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Mask Image |
Image/Color/Mask[] |
Mask lists input to this port will be judged as satisfying the requirements. Mask lists are usually obtained from the Deep Learning Model Package Inference Step. |
Depth Map |
Image/Depth |
Depth map of the box |
Mask Images |
Image/Color/Mask |
Masks of the highest layer regions of the boxes. |
Parameter Description
Size Consistency
| Parameter | Description |
|---|---|
All Boxes Must Be Same Dimensions |
Description: This parameter is used to filter out abnormally sized masks. Once this option is enabled, the dimensions (length, width, height) of all box masks judged to be valid must be consistent within a certain error range.
|
Box Dimension Error Tolerance |
Description: This parameter indicates the maximum allowable deviation (in mm) between the dimensions of the boxes. Only masks with dimensional deviations within this range will be judged valid.
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Missing Detection
| Parameter | Description |
|---|---|
All Boxes Must Be Detected |
Description: This parameter is used to determine whether there are missed boxes in the current detection result. Once this option is enabled, all existing boxes must be detected. If there are unrecognized boxes, the output of this Step will be empty.
|
Size Ratio of Remaining Box to Standard Box |
Description: This parameter is used to determine the completeness of the box masks. The system compares the actual area of the current box mask with the area of a standard box. If the ratio is below this threshold, the box is considered incomplete and the box will be removed.
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Show Margin Mask |
Description: Once this option is enabled, the gaps in the remaining masks will be displayed.
|
Margin Width |
Description: This parameter is used to set the gap (in mm).
|
Rectangularity Validation
| Parameter | Description |
|---|---|
Rectangularity Validation |
Description: This parameter is used to verify the rectangularity of the box mask. Rectangularity = Mask area / Min bounding rectangle area of the mask.
|
Min Rectangularity |
Description: This parameter is used to set the rectangularity threshold. Boxes with rectangularity values smaller than this threshold will have their masks removed.
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Filter Type |
Description: This parameter is used to specify the handling strategy when a non-rectangle box is detected. Please select according to the actual requirement.
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