Generate Zigzag Path

Mask Image

Image/Color/Mask

Object mask.

Depth Map

Image/Depth

Scene depth map.

Object Point Cloud

PointCloud/XYZNormal

Object point cloud.

Trajectory Poses

Pose[]

Targets of the generated trajectory.

Outermost Two Sides Line Move Dis

Parameter description: This parameter is used to set the movement offset distance of the two outer edge lines.
Default value: 60.0000

Outermost Two Sides Points Move Ratio

Parameter description: This parameter is used to set the movement ratio of the outermost edge points.
Default value: 0.3000

Interval Between Lines

Parameter description: This parameter is used to set the distance between adjacent lines. Smaller values generate denser parallel lines, while larger values generate sparser parallel lines.
Default value: 50

Ratio Thre of Remainder Dis to Interval

Parameter description: This parameter is used to control the ratio threshold for handling remainder distances that cannot be evenly divided.
Default value: 0.4000

First and Last Segment Contour Points Num

Parameter description: This parameter is used to set the number of contour points used in the first and last path segments for smoothing the start and end processes.
Default value: 5

Start and End Point Offset

Parameter description: This parameter is used to set the point offset for the first and last path segments.
Default value: 20

Line Middle Points Num

Parameter description: This parameter is used to set the number of path points to insert in the middle of each line for smoothing line motion.
Default value: 1

Generate Special Point from Prior Point Dis

Parameter description: This parameter is used to set the distance for generating special points relative to the previous point.
Default value: 10.0000

Is Long Side as Main

Parameter description: When checked, the long edge of the object is used as the major direction of the Z-shaped path; otherwise the short edge is used.
Default value: Selected

Nearest Dist Threshold

Parameter description: This parameter is used to set the threshold for the nearest distance to filter valid depth points.
Default value: 0.1000

Search Kernel Size

Parameter description: This parameter is used to set the kernel size when searching in the depth image. The unit is pixels.
Default value: 30

Font Scale

Parameter description: This parameter is used to adjust the scaling ratio for text display in visualization.
Default value: 0.5000