Fit Pose from Feature Points
Function
This Step calculates the optimal pose of the target object by performing a best-fit alignment between multiple real-time feature points and their corresponding reference feature points. It enhances adaptability in scenarios where the target object may be deformed.
Usage Scenario
This Step is suitable for scenarios where target object deformation during loading or unloading causes recognition errors, such as multi-hook loading, unloading into bins, or windshield assembly.
This Step can be directly connected to the Output Step to send the pose for subsequent tasks.
Input and Output
Input
| Input port | Data type | Description |
|---|---|---|
Taught TCP |
Pose[] |
The TCP taught on the reference target object. This value is read from the teach pendant in the robot reference frame. |
Real-Time Feature Points |
Pose[] |
Multiple feature points recognized in the current scene, which must correspond one-to-one with the reference feature points in order. |
Reference Feature Points |
Pose[] |
Multiple feature points on the reference target object. |
Output
| Output port | Data type | Description |
|---|---|---|
Transformed Target Object Pose |
Pose |
The target object pose obtained by applying a rotational transformation to the input taught TCP and performing best-fit alignment with multiple feature points. |
Feature Deviation Validation |
Bool |
Used to determine whether the maximum distance (i.e., maximum deviation) between all transformed real-time feature points on the target object and their corresponding reference feature points after best-fit alignment is within the threshold. If the maximum deviation does not exceed the threshold, the output is True; otherwise, the output is False. |
Parameter Description
| Parameter | Description |
|---|---|
Pose Display Settings |
Parameter description: This parameter is used to set the display type of poses. Value list: Only reference feature points, Only transformed real-time feature points Default value: Only reference feature points |
Maximum Feature Deviation Threshold |
Parameter description: This parameter is used to set the maximum allowable distance (i.e., maximum deviation) between the transformed real-time feature points on the target object and their corresponding reference feature points after best-fit alignment. If the maximum deviation exceeds this threshold, "Feature Deviation Validation" will output False. Default value: 5.000 mm |