Validate Poses by Included Angles to Reference Direction

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Function

This Step calculates the angles between the specified axes of the poses and the reference direction, the poses having such angles within the set maximum angle difference threshold will be retained and will have their output validation results set to True; those having such angles beyond the threshold will be removed and will have their results set to False.

Usage Scenario

This Step is a general pose filtering Step. No fixed usage scenarios.

Input and Output

Input

Input port Data type Description

Poses

Pose[]

The poses to be validated.

Reference Poses

Pose[] -

The reference poses.

Reference Directions

Vector3D[] -

The reference directions.

Output

Output port Data type Description

Validation Results

Bool[]

The output has the same size as the input. If the angle difference is small enough, the corresponding validation result will be True.

Valid Poses

Pose[]

The validated poses.

Angles

Number[]

The angles between a specified axis of the pose and the reference direction. The unit is degrees (°).

Parameter Description

Visualization Settings

Parameter Description

Show Point Cloud In Selected Frame

Description: Display point cloud under the robot reference frame or the camera reference frame.

Default value: Robot Coordinate

Value list: Robot Coordinate, Camera Coordinate

Instruction: When this parameter is set to Robot Coordinate, the Debug Output panel will display the visualized output under the camera reference frame; when it is set to Robot Coordinate, the panel will display the visualized output under the robot reference frame. Please refer to the tuning example for the corresponding result.

This parameter will appear only when the scene point cloud is set in the project.

  • Under the Robot Coordinate, the Debug Output panel is black, and you need to adjust the view to show the point cloud and coordinates.

  • Under the Camera Coordinate, the Debug Output panel only shows the point cloud, and you need to adjust point cloud orientation to show the coordinates.

Pose Type to Visualize

Description: This parameter is used to select the pose type to visualize.
Default value: After
Value list: After, Before, and All
Instruction: Select an appropriate option according to actual needs. Please refer to the tuning example for the corresponding result.
Parameter Description

Reference Frame

Parameter description: This parameter is used to display the reference frame used for validation.
Value list: World frame.

Reference Direction Source

Parameter description: This parameter is used to set the source of the reference direction.
Value list: Pose, Vector3d
Default value: Pose

Reference Direction

Parameter description: This parameter is used to set the reference direction.
Value list: Positive X-axis, Negative X-axis, Positive Y-axis, Negative Y-axis, Negative Z-axis, Positive Z-axis, Customized.
Default value: Positive Z-axis
Instruction: Select different reference directions to meet different judgment requirements.

Axis to Be Specified

Parameter description: This parameter is used to set the axis used to calculate the angle between the input and output poses.
Value list: X, Y, Z
Default value: Z
Instruction: Select the corresponding axis of the pose and calculate the angle with the reference direction.

Max Angle Difference (0–180)

Parameter description: This parameter is used to set the maximum angle threshold (°) for validating poses. If the angle difference between the specified axis and the reference direction is above the threshold, the pose is considered invalid.
Default value: 90°
Instruction: If the angle between the specified axis of the pose and the reference direction is less than or equal to this value, the judgment result will be True; otherwise, it will be False.

Output Empty List if Containing Invalid Poses

Parameter description: If the input list contains invalid poses, an empty list will be output.
Default value: Unselected.

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