Epic Pro Output

Feature Description

This operator is the output node for interaction between ATOM and Epic Pro software. It is responsible for organizing various results calculated by the ATOM algorithm graph (such as detection results, matched poses, generated pick points, processed point clouds, status information, etc.) into a data structure that the Epic Pro system can receive and understand, in order to communicate with Epic Pro.

Usage Scenarios

Process Endpoint: Serves as the endpoint of the ATOM algorithm flow, packaging final results (including pick point lists, object recognition information, or processing status, etc.) for output to Epic Pro for use.

Inputs and Outputs

Input Items

Detection Results: List of 2D or 3D raw detection results.

Grasped Object Pose Information: Contains key information such as pose and score of identified object instances.

Pick Points: List of pick point results, containing key information such as specific pick point poses, pick point IDs, priorities, etc.

Point Cloud in Robot Coordinate System: Scene point cloud in the robot base coordinate system after coordinate transformation.

EpicPro Status (Optional): Used to transmit custom status information (e.g., error status) to Epic Pro.

Output Items

Detection Results: List of organized detection results.

Grasping Objects without Pick Points: Contains information about objects that exist in the matching results but for which no corresponding pick points were found in the pick point results.

Pick Point List: Contains all valid pick points and their associated object information.

Point Cloud in Robot Coordinate System: The input point cloud in the robot coordinate system.