🔶Pick Object Pose Transform / Pick Point Transform

Function Description

This operator is used to transform input poses (pick poses or pick points calculated in camera coordinate system) to robot base coordinate system through "Hand-Eye Calibration Matrix".

Usage Scenarios

  • Coordinate System Unification : In robot vision picking workflows, poses identified by cameras are typically in camera coordinate system, while robot execution of picking needs to be in base coordinate system. This operator transforms pick poses from camera coordinate system to robot base coordinate system.

  • Pose Transfer : Transfer and transform pose information between different coordinate systems.

Input/Output

Pick Object Pose Transform：

Input

Pick Object Pose Information：Input pose list, typically in camera coordinate system.

Hand-Eye Calibration Matrix：Homogeneous transformation matrix representing transformation from camera coordinate system to robot coordinate system.

Output

Pick Object Pose Information：Pose list transformed to target coordinate system.

Pick Point Transform：

Input

Pick Point Poses：Input pick point list, typically in camera coordinate system.

Rotation Matrix：Same as above, 4x4 homogeneous transformation matrix.

Output

Pick Point Poses：Pick point list transformed to target coordinate system.

Parameter Description

Pick Object Pose Transform and Pick Point Transform operators have identical functionality, differing only in input and output data types：

  • Pick Object Pose Transform： Processes generic pose lists (PosesList).

  • Pick Point Transform： Processes specific pick point lists (PickPointList)

Enable Node

Parameter Description

Controls whether this operator performs calculations.

Parameter Adjustment

  • Enabled (Default)：Normal operation of the operator function.

  • Disabled：The operator performs no operations and directly outputs the input data.