Get Highest-Layer Poses

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Function

This Step sorts the poses in descending order along the specified direction, and then outputs the highest layer poses.

Usage Scenario

This Step is a general pose filtering Step. It outputs poses that meet the requirements according to the set parameters.

Input and Output

Input

Input port	Data type	Description
Poses	Pose[]	Pose list input to this port will be sorted and filtered.
Pose Labels	String[] -	The labels of input poses.
Pose Scores	Number[] -	The confidences of input poses.

Input port

Data type

Description

Poses

Pose[]

Pose list input to this port will be sorted and filtered.

Pose Labels

String[] -

The labels of input poses.

Pose Scores

Number[] -

The confidences of input poses.

Output

Output port	Data type	Description
Poses in Highest Layer	Pose[]	List of highest layer poses obtained.
Pose Labels	String[] -	Classification labels corresponding to highest layer poses.
Pose Scores	Number[] -	Pose scores corresponding to the highest layer poses.
Layer Flags	Bool[]	List of layer flags for input poses. True means the pose is in the highest layer; False means it is not.

Output port

Data type

Description

Poses in Highest Layer

Pose[]

List of highest layer poses obtained.

Pose Labels

String[] -

Classification labels corresponding to highest layer poses.

Pose Scores

Number[] -

Pose scores corresponding to the highest layer poses.

Layer Flags

Bool[]

List of layer flags for input poses. True means the pose is in the highest layer; False means it is not.

Parameter Description

Reference Direction

Parameter	Description
X	Parameter description: This parameter is used to set the X-axis component of the reference direction. Default value: 0.0000.
Y	Parameter description: This parameter is used to set the Y-axis component of the reference direction. Default value: 0.0000.
Z	Parameter description: This parameter is used to set the Z-axis component of the reference direction. Default value: 1.0000.

Parameter

Description

Parameter description: This parameter is used to set the X-axis component of the reference direction.
Default value: 0.0000.

Parameter description: This parameter is used to set the Y-axis component of the reference direction.
Default value: 0.0000.

Parameter description: This parameter is used to set the Z-axis component of the reference direction.
Default value: 1.0000.

Layer Settings

Parameter	Description
Only Get Highest One	Parameter description: This parameter is used to determine whether to output only one pose from the highest layer.
Layer Height	Parameter description: This parameter is used to set the height range of the layer. Default value: 100.000 mm. Instruction: Poses within this height range will be considered as belonging to the same layer.
Layer Tolerance (0.0–1.0)	Parameter description: This parameter is used to set the tolerance coefficient for determining whether the poses belong to the same layer. Default value: 1.0000. Instruction: Adjust this parameter according to the actual stacking status of the target object to control the filtering result on the highest layer.

Parameter

Description

Only Get Highest One

Parameter description: This parameter is used to determine whether to output only one pose from the highest layer.

Layer Height

Parameter description: This parameter is used to set the height range of the layer.
Default value: 100.000 mm.
Instruction: Poses within this height range will be considered as belonging to the same layer.

Layer Tolerance (0.0–1.0)

Parameter description: This parameter is used to set the tolerance coefficient for determining whether the poses belong to the same layer.
Default value: 1.0000.
Instruction: Adjust this parameter according to the actual stacking status of the target object to control the filtering result on the highest layer.

Visualization Settings

Parameter

Description

Show Point Cloud In Selected Frame

Description: Display point cloud under the robot reference frame or the camera reference frame.

Default value: Robot Coordinate

Value list: Robot Coordinate, Camera Coordinate

Instruction: When this parameter is set to Robot Coordinate, the Debug Output panel will display the visualized output under the camera reference frame; when it is set to Robot Coordinate, the panel will display the visualized output under the robot reference frame. Please refer to the tuning example for the corresponding result.

This parameter will appear only when the scene point cloud is set in the project.

Under the Robot Coordinate, the Debug Output panel is black, and you need to adjust the view to show the point cloud and coordinates.
Under the Camera Coordinate, the Debug Output panel only shows the point cloud, and you need to adjust point cloud orientation to show the coordinates.

Pose Type to Visualize

Description: This parameter is used to select the pose type to visualize.
Default value: After
Value list: After, Before, and All
Instruction: Select an appropriate option according to actual needs. Please refer to the tuning example for the corresponding result.

Tuning Examples

Show Point Cloud In Selected Frame

As shown below, the figure on the left shows the point cloud in the camera reference frame, and the figure on the right shows the point cloud in the robot reference frame.

Pose Type to Visualize

In the case of the robot reference frame, the visualized poses are as follows when the Pose Type to Visualize is set to After, Before, and All.

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