Count Boxes

Function

This Step calculates the number of boxes on the top layer, and then estimates the total number of boxes on the stack according to the stack height and pallet pattern.

Usage Scenario

This Step is a custom Step for special scenarios. This Step is used for depalletizing projects, to verify the number of boxes.

Input and Output

  • Input:

  1. Poses of recognized boxes in the robot reference frame.

  2. Masks for the top-layer boxes.

  3. Dimensions of the box masks, in pixels.

  4. Masks for top-layer recognized boxes.

  • Output:

None.