Filter Poses by Predefined Options

This section introduces how to filter poses with the provided pose filtering options.

Two options for pose filtering, Filter by angle and Filter out poses out of ROI, are provided. You can click the + button on the right to add an option.

Up to three pose filtering options can be added, and only one “Filter out poses out of ROI” can be added.

Filter by angle

Function

This option calculates the angle between the specified axis of the pose and the reference pose, and the poses with an angle less than the set Max angle difference will be retained.

Usage Instructions

Axis to be specified

This parameter specifies an axis of the pose, and the angle between this specified axis and the target direction will be calculated.

Set target direction

This parameter is used to set the target direction.

No.

Method

Description

Instruction

Illustration

1

Robot reference frame

Use the robot base reference frame as the reference pose.

2

Drag with pose manipulator

Set the reference pose with the pose manipulator.

  1. Click Set.

  2. Press and hold the Ctrl key, click the left mouse button and drag the manipulator to adjust its position and orientation.

  3. Click Save after you finish adjusting the pose manipulator.

set reference pose by dragger

Orientation

This parameter is used to select the direction of an axis in the reference pose, e.g., Positive X-direction.

Max angle difference

This parameter is used to specify the maximum angle between the specified axis of the pose and the reference direction, and the poses with an angle less than the Max angle difference will be retained.

Filter out poses out of ROI

Function

This option determines if the pose is within the 3D ROI, and retain the poses within the 3D ROI.

Usage Instructions

  1. Click Set.

  2. Set 3D ROI.

  3. After you finish setting the 3D ROI, click Save and apply.

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