Target Object Selection and Recognition
After point cloud preprocessing, select one or more bins from the target object editor for recognition.
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If an external service is used to trigger the Mech-Visionproject to run, it is recommended to close the "3D Bin Recognition" tool before triggering the project. If a project is triggered to run when the "3D Bin Recognition" tool is open, the content in the visualization window and the recognition result below will not be updated after option switching. Follow these steps:
After completing the above operations, switch the visualization options again to view the recognition result and visualization output normally. |
Select Target Object
Follow these tips to update the bins in the target object editor to this tool, and then select the bin to recognize.
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If there are no bins in the target object editor, select the operation workflow to create a bin. After configuring and saving the bin, click Update target object.
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If there are configured bins in the target object editor, you can just click Update target object.
Adjust Recognition Parameters
Different recognition parameters need to be set according to different bin configuration workflows in the target object editor.
Calculate Bin Pose with 3D Matching
If the bin is configured in the target object editor by using the "Acquire point cloud using camera" or "Import STL file" workflow, you need to use 3D matching to calculate the bin pose. This method is suitable for recognizing bins whose top surfaces are irregular and partially occluded.
After selecting this method, you need to set the following parameters.
| Parameter | Description |
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Confidence threshold |
Parameter description: If the confidence of a matching result is greater than this threshold, the result is considered valid. The higher the confidence, the more accurate the matching result.
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Calculate Bin Pose Directly
If the bin is configured in the target object editor by using the "No point cloud model required" workflow, the bin pose can be calculated directly. This method is suitable for bins whose top surfaces are regular and flat.
After selecting this method, you need to set the following parameters.
| Parameter | Description |
|---|---|
Bin Dimensions |
Parameter description: This parameter is used to set the length, width, and height of the bin. |
Bin Pose Offset |
Parameter description: This parameter is used to adjust the bin pose to the bin center.
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Check Recognition Result
After setting the above parameters, click Run Step or Run project to view the running result.
After bin recognition, click Next to enter the "General settings" process.