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

This grasp point file needs to be pre-created in Epic Pro’s matching template editing tool for the target object.

Parameter Adjustment Description

Create a parameter group for the matching model in the ATOM parameter mapping table, bind the model file and grasp point configuration file. Map this parameter group to the Epic Pro frontend to pass the relevant files generated by the matching template editing tool to the ATOM algorithm.