Calc Poses and Dimensions from Planar Point Clouds

Function

This Step calculates the poses of planar point clouds and the dimensions of the point cloud bounding boxes.

../../../../../_images/calc_poses_and_sizes_from_planar_point_clouds.png

Usage Scenario

This Step is usually used to calculate pick points and dimensions of planar point clouds of objects as cartons, sacks, etc.

Tip

Before using this Step, please filter and cluster the point cloud to reduce the interference from unwanted points.

Input and Output

../../../../../_images/input_output_21.png

Parameter Description

Pose Calculation Settings

Hint

The selected Method to Calc Pose Center should correspond with the Method to Calc Pose Orientation.

  • When BoundingRectCenter is selected as the Method to Calc Pose Center, BoundingRectOrientation should be selected as the Method to Calc Pose Orientation.

  • When CloudCenter is selected as the Method to Calc Pose Center, CloudOrientation should be selected as the Method to Calc Pose Orientation.

Method to Calc Pose Center
Description: This parameter specifies the center where the pose position is located.
Value list:

  • CloudCenter (Center of the point cloud): Select this method when the object point clouds scatter randomly, as shown in the left figure below.

  • BoundingRectCenter (Center of the point cloud’s bounding box): Select this method when the object point clouds are evenly spread, as shown in the right figure below.

    ../../../../../_images/calculate_pose_center.png
Default value: BoundingRectCenter
Tuning recommendation: Please set the parameter according to the actual requirement.
Method to Calc Pose Orientation
Description: This parameter specifies the orientation of the pose.
Value list:

  • CloudOrientation (Orientation of the point cloud’s center): Select this method when the object point clouds scatter randomly, as shown in the left figure above.

  • BoundingRectOrientation (Orientation of the bounding box center): Select this method when the object point clouds are evenly spread, as shown in the right figure above.

Tuning recommendation: Please set the parameter according to the actual requirement.
Use Best Aligned Rect
Description: This parameter determines whether to use a bounding rectangle whose edges are as parallel as possible to the edges of the object. If this option is NOT selected, a minimum bounding rectangle will be used.
Default value: Unselected
Tuning recommendation: Please set the parameter according to the actual requirement.
Align Search Radius
Description: This parameter determines whether the bounding rectangle aligns with the feature points of the object. The unit is pixels. When the distance between the feature point and the bounding rectangle is less than the value, the feature points are considered aligned with the bounding rectangle.
Default value: 3 px

Hint

This parameter will appear only after you select Use Best Aligned Rect.

Box Pose Calculation Settings

Hint

This parameter group is applicable to cartons only.

Calc Boxes’ Height
Description: This parameter is used to calculate the carton’s height in the Z direction.
Default value: Unselected
Tuning recommendation: Please select this parameter when you need to calculate the carton’s height in the Z direction.
Fixed Height for Box Bottom
Description: This parameter specifies the height of the carton base, such as conveyor belt and pallet on which the carton is placed, for facilitating the calculation of the carton’s height in the Z direction.
Default value: 0 m
Tuning recommendation: Please set the parameter according to the actual requirement.

Hint

This parameter will appear only after you select Calc Boxes’ Height.