General Settings
After bin recognition, you can configure auxiliary functions other than visual recognition in this process. Only configuring port outputs is supported.
You can choose whether to output target object data inside the bin according to the actual requirement. After selecting the relevant options, the "3D Bin Recognition" Step will add the corresponding output ports in real time.
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Select output port data.
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Depth map/color image: Outputs the depth map and color image inside the bin.
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Surface/edge point cloud: Outputs the surface point cloud and edge point cloud inside the bin.
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Select data calculation method.
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Calculate mask difference: Outputs target object data inside the bin by calculating the difference between the bin mask and target object mask. If the point cloud of the bin top surface is complete, this method can be used to obtain target object data inside the bin.
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Extract data by bin dimensions: Extracts target object data inside the bin according to the bin dimensions. If the bin dimensions are accurate, this method can be used to obtain target object data inside the bin.
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Segment target objects and bin (Recommended): Based on the object-bin segmentation model package, this method segments target objects and bins from the input depth map and color image to generate target object masks and bin masks. If there are many interfering point clouds at the bottom of the bin, this method can be used to remove interfering point clouds.
If you choose to use this method to calculate target object data inside the bin, make sure that the “Segment target objects and bin” feature is enabled in the “Point cloud preprocessing” process and that the relevant parameters are configured.
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Now you have completed the configuration in the 3D Bin Recognition tool. Click the btn:Save button to save the configuration.