Generate Path Given Depth Map

Object Mask

Image/Color/Mask

A mask image of the object input at this port is used to determine the object’s contour range.

Scene Depth Map

Image/Depth

A depth map of the scene input at this port is used to obtain surface depth information of the object.

Object Point Cloud (with normals if by contours and usePointNormal)

PointCloud/XYZNormal

A point cloud of the target object input at this port is used to compute the normal vector direction of path target points.

Transformed Model Point Cloud

Pose []

A list of target points for the generated path.

Erosion Scale

Parameter description: This parameter is used to set the scaling value (px) for erosion on object masks when generating the path.
Default value: 1.0000.

Erode Kernel Size

Parameter description: This parameter is used to set the kernel size for erosion on object masks during path generation.
Default value: 30.000 mm.

Sample Distance

Parameter description: This parameter is used to specify the sampling distance in the generated path. The unit is pixels.
Default value: 30 px.

Final Point Distance Redundancy Ratio

Parameter description: This parameter is used to set the redundancy of the most important distance in generating the path.
Default value: 0.5000.

Pose Sorting Strategy

Ascending

Parameter description: This parameter is used to set the sorting direction. When this parameter is selected, it will be sorted in ascending order, and when this parameter is not selected, it will be sorted in descending order.
Default value: selected.

Confidence

Parameter description: This parameter is used to set the confidence threshold for corner detection. A larger value indicates a higher quality requirement for the detected corners.
Default value: 0.0100.

Min Corner Distance

Parameter description: This parameter is used to set the minimum allowable distance (in pixels) between neighboring corners. Corners with distances smaller than this value will be merged or filtered.
Default value: 10.0000.

Max Corner Num

Parameter description: This parameter is used to set the upper limit of the number of detected corners. The excess points will be discarded.
Default value: 4.

Block Size

Parameter description: This parameter is used to set the block size for corner detection.
Default value: 5.

Use Harris Detector

Parameter description: This parameter is used to determine whether to use the Harris detector to detect corners. Once this option is selected, you will need to set the K value.
Default value: Unselected.

K

Parameter description: This parameter is used to set the response coefficient K of the Harris detector.
Default value: 0.0400.

Sub-pixel Corner Extraction Window Size

Parameter description: This parameter is used to set the window size for extracting sub-pixel corners.
Default value: 10.

Sub-pixel Corner Extraction Iteration Num

Parameter description: This parameter is used to set the maximum number of iterations for extracting sub-pixel corners.
Default value: 20.

Sub-pixel Corner Accuracy

Parameter description: This parameter is used to set the accuracy requirement for extracting sub-pixel corners.
Default value: 0.0300.

Max Point Distance

Parameter description: This parameter is used to set the maximum distance between points in the search area and waypoints when generating waypoints.
Default value: 5.000 mm.

Depth Search Radius

Parameter description: This parameter is used to set the search radius of depth pixels between points in the search area and waypoints when generating waypoints.
Default value: 2 px.

Blend Trajectory

Parameter description: Use smoothing to ensure accurate corner position.

Default value: selected.