🔶Generate Pick Points

Function Description

This operator generates a set of specific pick point poses for each matching pose based on the input matching result pose list and pick point file.

Usage Scenarios

For the same type of object identified through 3D matching, even if its pose in the scene is different, this operator can be used in combination with pick point files to generate effective pick points relative to that object.

Input/Output

Input

Matching Results： Input pose list, typically from 3D matching operator output.

Drawing Scene (Optional)： Scene point cloud, mainly used for drawing and displaying generated pick points in the visualization interface, not directly involved in calculations.

Output

Pick Point Poses：

Generated pick point list, containing the following key information:

id: Unique ID of the pick point in the pick point file.

priority: Priority of the pick point (usually defined in the pick point file).

uuid: UUID of the associated input matching result.

score: Score of the associated input matching result.

pose: Six-dimensional pose [x, y, z, rx, ry, rz] (Rodrigues vector representation) of this pick point in the scene.

matrix: 4x4 homogeneous transformation matrix corresponding to this pick point pose.

name: Name of the pick point (usually defined in the pick point file).

origin_pose: Corresponding original input matching result pose.

model_binding_name: Model binding name of the corresponding input matching result.

Parameter Description

Pick Points File

Parameter Description

This pick points file needs to be created in advance for the target object using the matching template editing tool in Epic Pro.

Parameter Adjustment

Create a parameter group for the matching model in the ATOM parameter mapping table, bind the model file with the pick points configuration file. Map this parameter group to the Epic Pro frontend to pass the related files generated by the matching template editing tool to the ATOM algorithm.