Calc Midpoint of Specified Side of Rectangle

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Function

This Step calculates the midpoint of the specified side of the bounding rectangle of each non-zero pixel region in the mask image.

Usage Scenario

This Step is usually used in scenarios such as hatch door/glass gluing to calculate the starting point of the gluing path.

Input and Output

Input

Input port Data type Description

Rectangle Region

Image/Color/Mask

Non-zero pixel regions in the mask image input by this port will have bounding rectangles calculated.

Output

Output port Data type Description

3D Midpoint

Pose[]

Midpoints of the specified sides of the bounding rectangles.

Parameter Description

Parameter Description

Specified Side

Parameter description: Calculate the midpoint of the specified side.

Values:

  • Top: Top side

  • Bottom: Bottom side

  • Left: Left side

  • Right: Right side

Default value: Left

Z Value of Midpoint

Parameter description: The Z value of the midpoint in the camera frame.

Default value: 2000.000 mm

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