What is the relationship between the object center point, camera reference frame, and the robot reference frame?

The automatically generated object center point is located at the center of the point cloud model defined within the object’s reference frame. It is independent of both the camera and robot reference frames.

When recognizing target objects via 3D matching, the object center point is defined in the camera reference frame. If the position of the object center point coincides with that of the pick point, the pick point should be transformed from the camera reference frame to the robot reference frame.