Calc Cylinder Poses

Function

This Step calculates poses of cylinder center points.

Usage Scenario

If the recognized cylinder center poses are not on the axial centers, this Step can be used to correct the poses. This Step usually follows the Step Point Cloud Shape Detector.

Input and Output

  • Input

  1. Cylinder point clouds input to this port will have poses of center points calculated.

  2. Cylinder shape info, usually from the output of the Step “Point Cloud Shape Detector”.

  • Output

  1. Calculated center poses of the point clouds.