Calc Cylinder Poses

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Function

This Step calculates poses of cylinder center points.

Usage Scenario

If the recognized cylinder center poses are not on the axial centers, this Step can be used to correct the poses. This Step usually follows the Step Point Cloud Shape Detector.

Input and Output

Input

Input port Data type Description

Cylinder Point Clouds

PointCloud/XYZNormal[]

Cylinder point clouds input to this port will have poses of center points calculated.

Cylinder Info

Shape3D[]

Cylinder shape info, usually from the output of the Step "Point Cloud Shape Detector".

Output

Output port Data type Description

Unnamed

Pose[]

Calculated center poses of the point clouds.

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