Point Cloud Stitching
Function: Accept multiple sets of EpicPro input data, transfer them to the robot coordinate system through the hand-eye calibration matrix, and splice the point clouds. Automatically bind mapping names, accept data and parse
Input Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Pointcloud |
XYZPoints |
None |
None |
Pointcloud |
3D ROI |
ROI3D |
None |
[] |
3D ROI in the format [{'min': [min_x, min_y, min_z], 'max': [max_x, max_y, max_z], 'transform': cam2ROIFrame}] |
Hand-eye calibration matrix (rotation matrix) |
List |
None |
[] |
Hand-eye calibration matrix, rotation matrix form. |
Output Parameters:
| Name | Type | Valid Range | Default Value | Meaning |
|---|---|---|---|---|
Point cloud (base coordinate system) |
XYZPoints |
None |
None |
After fetching point clouds from multiple spaces, go to the base coordinate system and perform ROI to merge |