Convert 2D Point to 3D Pose

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Function Description

This Step converts the 2D pose or 2D shape of a target object detected by a 2D camera into a 3D pose in the specified base frame. It also outputs data such as pose offsets according to the selected application scenario.

Figure description: P1 is the taught reference pose for picking, P2 is the taught flange pose during capture, and P3 is the object pose in the base frame.

Usage Scenario

This Step is suitable for scenarios where a 2D camera is used to locate planar target objects and the localization results are used for positioning and picking or placement correction. It is typically used after localization Steps such as 2D Matching or 2D Blob Analysis, and before the Output Step.

Input and Output

Input

Input Port	Data Type	Description
2D Pose	Pose2D[]	The 2D pose of the target object.
2D Shape	Shape2D[]	The 2D shape data of the target object, including contours, regions, or other geometric features. The system automatically extracts reference points from the shape for pose conversion.
Real-Time Placement Pose	Pose[]	The pose provided by an upstream localization Step. It is used to calculate the flange pose for placement correction of the current target object. This input is used only in the Placement Correction (Non-Fixed Placement Position) scenario.

Input Port

Data Type

Description

2D Pose

Pose2D[]

The 2D pose of the target object.

2D Shape

Shape2D[]

The 2D shape data of the target object, including contours, regions, or other geometric features. The system automatically extracts reference points from the shape for pose conversion.

Real-Time Placement Pose

Pose[]

The pose provided by an upstream localization Step. It is used to calculate the flange pose for placement correction of the current target object. This input is used only in the Placement Correction (Non-Fixed Placement Position) scenario.

Output

Output Port	Data Type	Description
3D Pose	Pose[]	The converted 3D pose. In the Object Pose Output scenario, this is the target object pose. In the Positioning and Picking or Placement Correction scenarios, this is the corresponding robot flange pose.
Pose Offset	Pose[]	The offset of the current 3D pose from the reference pose, calculated in the selected base frame. This port outputs offsets only in the X, Y, and Rz directions. X and Y represent translational offsets, and Rz represents the angular offset around the Z-axis.
Relative Pose Transformation	Pose[]	The X, Y, and Rz transformation quantities required to transform the reference pose into the current 3D pose. The transformation is calculated in the selected base frame and represents planar positional and angular changes. Relative Pose Transformation × Taught Reference Pose = 3D Pose.

Output Port

Data Type

Description

3D Pose

Pose[]

The converted 3D pose. In the Object Pose Output scenario, this is the target object pose. In the Positioning and Picking or Placement Correction scenarios, this is the corresponding robot flange pose.

Pose Offset

Pose[]

The offset of the current 3D pose from the reference pose, calculated in the selected base frame. This port outputs offsets only in the X, Y, and Rz directions. X and Y represent translational offsets, and Rz represents the angular offset around the Z-axis.

Relative Pose Transformation

Pose[]

The X, Y, and Rz transformation quantities required to transform the reference pose into the current 3D pose. The transformation is calculated in the selected base frame and represents planar positional and angular changes. Relative Pose Transformation × Taught Reference Pose = 3D Pose.

Parameter Description

Object Pose Output

This scenario converts the 2D pose into the 3D pose of the target object in the selected base frame. It does not calculate a robot tool pose from a taught picking or placement pose. Subsequent Steps can use the object pose for picking, placement, or other pose processing.

When the output object pose is expressed in the TCP frame, its Z-axis points in the positive direction of the TCP frame’s Z-axis.

Parameter	Description
Application Scenario	Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected. Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)
Base Frame	Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.
Input Data Type	Specifies the type of input data. Value List: 2D Pose, 2D Shape
Image Acquisition Step	Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.
Enable Height Compensation	Enable this parameter when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offset based on Target Object Real-Time Height and Target Object Reference Height. This parameter is only applicable when the camera optical axis is perpendicular to the work plane. It is not recommended when the camera optical axis is tilted.
Target Object Reference Height	The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.
Target Object Real-Time Height	The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Parameter

Description

Application Scenario

Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected.

Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)

Base Frame

Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.

Input Data Type

Specifies the type of input data.

Value List: 2D Pose, 2D Shape

Image Acquisition Step

Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.

Enable Height Compensation

Enable this parameter when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offset based on Target Object Real-Time Height and Target Object Reference Height. This parameter is only applicable when the camera optical axis is perpendicular to the work plane. It is not recommended when the camera optical axis is tilted.

Target Object Reference Height

The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Target Object Real-Time Height

The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Positioning and Picking

This scenario calculates the robot flange pose for picking the current target object based on the reference target object’s 2D pose and reference picking pose. It is suitable for picking non-stacked target objects from a pallet or flat target objects from a conveyor belt.

Parameter	Description
Application Scenario	Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected. Select Positioning and Picking for this scenario. Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)
Base Frame	Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.
Input Data Type	Specifies the type of input data. Value List: 2D Pose, 2D Shape
Image Acquisition Step	Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.
Reference Target Object 2D Pose	The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.
Reference Picking Pose	The robot flange pose when picking the reference target object. This is the flange pose in the base frame read from the teach pendant.
Enable Height Compensation	Enable this parameter when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offset based on Target Object Real-Time Height and Target Object Reference Height. This parameter is only applicable when the camera optical axis is perpendicular to the work plane. It is not recommended when the camera optical axis is tilted.
Target Object Reference Height	The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.
Target Object Real-Time Height	The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Parameter

Description

Application Scenario

Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected. Select Positioning and Picking for this scenario.

Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)

Base Frame

Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.

Input Data Type

Specifies the type of input data.

Value List: 2D Pose, 2D Shape

Image Acquisition Step

Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.

Reference Target Object 2D Pose

The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.

Reference Picking Pose

The robot flange pose when picking the reference target object. This is the flange pose in the base frame read from the teach pendant.

Enable Height Compensation

Target Object Reference Height

The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Target Object Real-Time Height

The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Placement Correction (Fixed Placement Position)

This scenario calculates a placement correction based on the localization deviation of the target object and places it at a fixed position. It is suitable when the position and orientation of the placement location remain unchanged during operation. Placement correction is only supported with the Eye-to-Hand (ETH) camera mounting mode.

Parameter	Description
Application Scenario	Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected. Select Placement Correction (Fixed Placement Position) for this scenario. Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)
Base Frame	Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.
Input Data Type	Specifies the type of input data. Value List: 2D Pose, 2D Shape
Image Acquisition Step	Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.
Reference Target Object 2D Pose	The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.
Reference Capture Pose	The robot flange pose at the capture point during teaching. This is the flange pose in the base frame read from the teach pendant.
Reference Placement Pose	The robot flange pose when placing the reference target object at the target position during teaching. This is the flange pose in the base frame read from the teach pendant.
Obtain Flange Pose from Parameters	When selected, the robot flange pose entered in Flange Pose during Capture takes priority. Even if the Communication Component successfully obtains a flange pose, the pose entered here is used.
Flange Pose during Capture	The robot flange pose at the capture point. This is the flange pose in the base coordinate frame read from the teach pendant.
Robot Name Used in Communication Configuration	Enter the robot model name. It must match the model of the robot connected through the Communication Component.
Enable Height Compensation	Enable this parameter when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offset based on Target Object Real-Time Height and Target Object Reference Height. This parameter is only applicable when the camera optical axis is perpendicular to the work plane. It is not recommended when the camera optical axis is tilted.
Target Object Reference Height	The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.
Target Object Real-Time Height	The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Parameter

Description

Application Scenario

Select the application scenario based on the actual requirements. The corresponding input ports and parameters are displayed after a scenario is selected. Select Placement Correction (Fixed Placement Position) for this scenario.

Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)

Base Frame

Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.

Input Data Type

Specifies the type of input data.

Value List: 2D Pose, 2D Shape

Image Acquisition Step

Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.

Reference Target Object 2D Pose

The 2D pose of the reference target object detected at the capture point. This pose is typically obtained from the data stream output by the previous Step to this input port.

Reference Capture Pose

The robot flange pose at the capture point during teaching. This is the flange pose in the base frame read from the teach pendant.

Reference Placement Pose

The robot flange pose when placing the reference target object at the target position during teaching. This is the flange pose in the base frame read from the teach pendant.

Obtain Flange Pose from Parameters

When selected, the robot flange pose entered in Flange Pose during Capture takes priority. Even if the Communication Component successfully obtains a flange pose, the pose entered here is used.

Flange Pose during Capture

The robot flange pose at the capture point. This is the flange pose in the base coordinate frame read from the teach pendant.

Robot Name Used in Communication Configuration

Enter the robot model name. It must match the model of the robot connected through the Communication Component.

Enable Height Compensation

Target Object Reference Height

The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Target Object Real-Time Height

The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Placement Correction (Non-Fixed Placement Position)

After the target object has been picked, this scenario further compensates for the picking deviation based on the current localization result and calculates the final placement correction together with the Real-Time Placement Pose. It is suitable when the actual position or orientation of the placement location varies between runs. Placement correction is only supported with the Eye-to-Hand (ETH) camera mounting mode.

Parameter	Description
Application Scenario	Parameter description: Select the application scenario according to your requirements. The corresponding input ports and parameters will be displayed. Select Placement Correction (Non-Fixed Placement Position) for this scenario. Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)
Base Frame	Parameter description: Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.
Input Data Type	Parameter description: Specifies the type of input data. Value List: 2D Pose, 2D Shape
Image Acquisition Step	Parameter description: Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.
Reference Target Object 2D Pose	Parameter description: The 2D pose of the reference target object detected during image capture. This pose is usually obtained from the data stream output by the previous Step and connected to this input port.
Reference Capture Pose	Parameter description: The robot flange pose at the capture point during teaching. This is the flange pose in the base frame, as read from the teach pendant.
Reference Placement Pose	Parameter description: The robot flange pose when the robot places the reference target object at the target position during teaching. This is the flange pose in the base frame, as read from the teach pendant.
Obtain Flange Pose from Parameters	Parameter description: When selected, the robot flange pose entered in the Flange Pose during Capture parameter takes priority. This pose is used even if the Communication Component successfully obtains a flange pose.
Flange Pose during Capture	Parameter description: The robot flange pose at the capture point. This is the flange pose in the base frame, as read from the teach pendant.
Robot Service Name Used in Communication Configuration	Parameter description: Enter the robot model name. It must match the robot model connected through the Communication Component.
Enable Height Compensation	Parameter description: Enable this function when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offsets based on the Target Object Real-Time Height and Target Object Reference Height. This function is only applicable when the camera optical axis is perpendicular to the work plane; it is not recommended when the camera optical axis is tilted.
Target Object Reference Height	Parameter description: The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.
Target Object Real-Time Height	Parameter description: The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Parameter

Description

Application Scenario

Parameter description: Select the application scenario according to your requirements. The corresponding input ports and parameters will be displayed. Select Placement Correction (Non-Fixed Placement Position) for this scenario.

Value List: Object Pose Output, Positioning and Picking, Placement Correction (Fixed Placement Position), Placement Correction (Non-Fixed Placement Position)

Base Frame

Parameter description: Sets the base frame used to output the 3D pose or pose offset. The robot frame is used by default. To use a custom base frame, enter its pose in the robot frame.

Input Data Type

Parameter description: Specifies the type of input data.

Value List: 2D Pose, 2D Shape

Image Acquisition Step

Parameter description: Selects the 2D camera Step that provides the camera intrinsics, extrinsics, and calibration results. Select the camera Step corresponding to the current 2D localization result.

Reference Target Object 2D Pose

Parameter description: The 2D pose of the reference target object detected during image capture. This pose is usually obtained from the data stream output by the previous Step and connected to this input port.

Reference Capture Pose

Parameter description: The robot flange pose at the capture point during teaching. This is the flange pose in the base frame, as read from the teach pendant.

Reference Placement Pose

Parameter description: The robot flange pose when the robot places the reference target object at the target position during teaching. This is the flange pose in the base frame, as read from the teach pendant.

Obtain Flange Pose from Parameters

Parameter description: When selected, the robot flange pose entered in the Flange Pose during Capture parameter takes priority. This pose is used even if the Communication Component successfully obtains a flange pose.

Flange Pose during Capture

Parameter description: The robot flange pose at the capture point. This is the flange pose in the base frame, as read from the teach pendant.

Robot Service Name Used in Communication Configuration

Parameter description: Enter the robot model name. It must match the robot model connected through the Communication Component.

Enable Height Compensation

Parameter description: Enable this function when the target object plane and the camera calibration reference plane are parallel but at different heights. The Step compensates for scale and pose offsets based on the Target Object Real-Time Height and Target Object Reference Height. This function is only applicable when the camera optical axis is perpendicular to the work plane; it is not recommended when the camera optical axis is tilted.

Target Object Reference Height

Parameter description: The distance from the camera to the calibration reference plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

Target Object Real-Time Height

Parameter description: The distance from the camera to the target object plane, measured in millimeters (mm) along the camera optical axis. Set this parameter when height compensation is enabled.

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