Transform Poses for Truss

Function

This Step is used to transform the input pose to the camera reference frame or the truss system reference frame and then output the transformed poses.

Usage Scenario

This Step is designed to transform the reference frame of poses in automated truss system projects.

If you are using a robot other than the automated truss system, please use the Transform Poses Step.

If you use the wrong transform Step, the transformed poses will be incorrect and therefore incorrect pick points will be output.

Input and Output

../../../../_images/input_and_output_11.png

Parameter Description

Transformation Type
Default setting: CameraToRobot
Options: CameraToRobot, RobotToCamera
Descriptions:

  • CameraToRobot: Assuming that the object pose in the camera reference frame is Pose 1, when the transformation type is CameraToRobot, the transformed pose Pose2 in the truss system reference frame will be output. Please refer to Transform Poses for more examples.

  • RobotToCamera: Assuming that the object pose in the truss system reference frame is Pose 1, when the transformation type is RobotToCamera, the transformed pose Pose2 in the camera reference frame will be output. Please refer to Transform Poses for more examples.