Use a camera to acquire the point cloud, generate the target object model, and configure the bin
In this workflow, you can use the point cloud acquired by the camera to generate a point cloud model and create a target object.
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Before selecting this workflow, ensure that the current project contains the “Capture Images from Camera” Step, and that the camera is connected or the virtual mode is enabled. |
Under the For bin positioning in the target object editor, click Select, and set the target object name, generation method (Acquire point cloud using camera), and target object dimensions in the "Add Target Object" window. Then, click OK to enter the configuration process. The overall configuration process is shown in the figure below.
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Acquire the point cloud: Use the current project to acquire the point cloud. Then adjust the parameters and set the 3D ROI to generate a point cloud model.
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Configure bin: Edit the point cloud model and align the point cloud model with the bin model for subsequent matching and use in Mech-Viz.
The following sections provide detailed instructions on the configuration.
Acquire Point Cloud
After entering the configuration process, the point cloud should be acquired first to generate the point cloud model.
Set Project Information
The “Capture Images from Camera” Step in the current project should be used to acquire the point cloud. If the solution contains multiple projects, there may be multiple “Capture Images from Camera” Steps. Please select the appropriate one based on your actual needs. Then click Acquire point cloud, and then the result can be viewed in the visualization area.
Note that when the camera’s field of view cannot cover the entire bin, priority should be given to ensuring that the key areas of the bin are within the camera’s field of view.
Record Robot Flange Pose at Image-Capturing Point
If the camera is mounted in the EIH mode, you can click the Obtain current pose button to obtain the robot flange pose when capturing the point cloud. Please note:
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The pose refers to the robot flange pose, not the TCP.
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The pose corresponds to the robot flange pose at the image-capturing point.
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Carefully check the values to avoid errors.
Preprocess Parameters
To remove interference points and speed up processing in subsequent Steps, you can perform preprocessing on the point cloud. For detailed explanations of the parameters, refer to Preprocessing Parameters.
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If the “3D Bint Recognition” Step is used in the project, you can enable Use parameters of Step “3D Bin Recognition”, and then the parameter values in the “3D Bin Recognition” Step will be synchronized. This improves the accuracy of 3D matching. |
Configure Bin
After generating the point cloud model, edit it and align the point cloud model with the bin model for subsequent matching and use in Mech-Viz.
Set Bin Model Dimensions
To facilitate subsequent use of the bin model in Mech-Viz, you need to set the dimensions of the bin model, including length, width, height, and thickness.
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To ensure safe robot operation, increase the model dimensions appropriately when necessary to leave sufficient safety margin. |
Align Point Cloud Model and Bin Model
The function to align the point cloud model and bin model is used to align their center points to ensure consistent spatial positions.
Because the point cloud acquired by the camera may be incomplete, or may differ from the actual dimensions of the bin model, offsets may occur between the point cloud model and the bin model. To resolve this issue, click Auto-align point cloud model and object model.
The tool will automatically align the point cloud model and the bin model according to current data, ensuring a correct positional relationship. Click Save to save the target object to Solution folder\resource\workobject_library. Then the target object can be used in subsequent 3D matching Steps.