Correct Accuracy Drift of Vision System

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Function Description

This Step uses a drift correction model to correct the accuracy drift of the vision system in the camera reference frame.

Usage Scenario

This Step is typically used to correct the accuracy drift of the vision system.

Input and Output

Input

Input Port	Data Type	Description
Target Object Center Poses	Pose[]	Target object center poses to be corrected in the camera reference frame.
Target Object Name	String[]	Target object names corresponding one-to-one to the target object center poses.
Pick Points	Pose[]	Target object pick points to be corrected in the camera reference frame.
Pick Point Information	JsonValue	Information corresponding to the pick points.
Uncorrected Poses	Pose[]	Target object poses to be corrected in the camera reference frame.
Drift Correction Model	Pose[]	Drift correction model used to correct the target object poses.

Input Port

Data Type

Description

Target Object Center Poses

Pose[]

Target object center poses to be corrected in the camera reference frame.

Target Object Name

String[]

Target object names corresponding one-to-one to the target object center poses.

Pick Points

Pose[]

Target object pick points to be corrected in the camera reference frame.

Pick Point Information

JsonValue

Information corresponding to the pick points.

Uncorrected Poses

Pose[]

Target object poses to be corrected in the camera reference frame.

Drift Correction Model

Pose[]

Drift correction model used to correct the target object poses.

Output

Output Port	Data Type	Description
Corrected Poses	Pose[]	Target object poses corrected using the drift correction model. The poses remain in the camera reference frame.

Output Port

Data Type

Description

Corrected Poses

Pose[]

Target object poses corrected using the drift correction model. The poses remain in the camera reference frame.

Parameter Description

Parameter	Description
Input Data	Select the input data type. Different input types correspond to different input ports. Select the appropriate input type based on the actual application scenario. Value List: Target Object Center Poses and Target Object Name: Inputs the target object center poses and the corresponding target object names. This option is applicable to scenarios where the target object center poses require drift correction. When this option is selected, the correction model associated with the camera in the current project is used. Pick Points and Pick Point Information: Inputs the target object pick points and the corresponding pick point information. This option is applicable to scenarios where the pick points require drift correction. When this option is selected, the correction model associated with the camera in the current project is used. Poses and Drift Correction Model: Inputs the poses to be corrected and the drift correction model. This option is applicable to scenarios where an existing drift correction model is directly used to correct the poses.

Parameter

Description

Input Data

Select the input data type. Different input types correspond to different input ports. Select the appropriate input type based on the actual application scenario.

Value List:

Target Object Center Poses and Target Object Name: Inputs the target object center poses and the corresponding target object names. This option is applicable to scenarios where the target object center poses require drift correction. When this option is selected, the correction model associated with the camera in the current project is used.
Pick Points and Pick Point Information: Inputs the target object pick points and the corresponding pick point information. This option is applicable to scenarios where the pick points require drift correction. When this option is selected, the correction model associated with the camera in the current project is used.
Poses and Drift Correction Model: Inputs the poses to be corrected and the drift correction model. This option is applicable to scenarios where an existing drift correction model is directly used to correct the poses.

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Correct Accuracy Drift of Vision System

Function Description

Usage Scenario

Input and Output

Input

Output

Parameter Description

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