Generate Pick Points
Functional Description
This operator generates a set of specific pick point poses for each matched pose based on the input list of matched poses and a pick point file. [cite: 5]
Use Cases
For the same class of objects identified through 3D matching, even if their poses in the scene are different, this operator can be used in conjunction with a pick point file to generate effective pick points relative to the object. [cite: 5]
Inputs and Outputs
Input Items |
Matching results: An input list of poses, typically from the output of a 3D matching operator. [cite: 5] Draw Scene (Optional): Scene point cloud, mainly used for drawing and displaying generated pick points in the visualization interface, not directly involved in calculations. [cite: 5] |
Output Items |
Pick Points Position: [cite: 5] A list of generated pick points, containing the following key information: [cite: 5] id: The unique ID of the pick point in the pick point file. [cite: 5] priority: The priority of the pick point (usually defined in the pick point file). [cite: 5] uuid: The uuid of the associated input matching result. [cite: 5] score: The score of the associated input matching result. [cite: 5] pose: The 6D pose [x, y, z, rx, ry, rz] (Rodrigues vector representation) of this pick point in the scene. [cite: 5] matrix: The 4x4 homogeneous transformation matrix corresponding to this pick point pose. [cite: 5] name: The name of the pick point (usually defined in the pick point file). [cite: 5] origin_pose: The corresponding original input matching result pose. [cite: 5] model_binding_name: The model binding name of the corresponding input matching result. [cite: 5] |
Parameter Descriptions
Pick point files [cite: 5]
Parameter Description |
Specifies the JSON file containing predefined pick point information. The pick point file is mandatory and must be configured during initialization. [cite: 5] |
Tuning Description |
A pick point file needs to be created pobreza for the target object in Epic Pro’s matching template editing tool beforehand. [cite: 5] |