🔶Epic Pro Output

Function Description

This operator is the output node for ATOM’s interaction with Epic Pro software. It is responsible for organizing various results computed by the ATOM algorithm graph (such as detection results, matching poses, generated pick points, processed point clouds, status information, etc.) into data structures that the Epic Pro system can receive and understand, for communication with Epic Pro.

Usage Scenarios

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

Input and Output

Input

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

Target pose information: Contains key information such as poses and scores of identified object instances.

Pick points: Pick point result list, containing specific pick point poses, pick point IDs, priorities, and other key information.

Robot coordinate system point clouds: Scene point clouds after coordinate transformation, in the robot base coordinate system.

EpicPro status (optional): Used to pass custom status information to Epic Pro (e.g., error status).

Output

Detection results: Organized detection result list.

Targets without pick points: Contains object information that exists in matching results but has no corresponding pick points found in pick point results.

Pick point list: Contains all valid pick points and their associated object information.

Robot coordinate system point clouds: Input robot coordinate system point clouds.