Matching template editing tool

Introduction

The Matching template editing tool is used to edit matching templates, such as cropping point clouds, downsampling point clouds, adding grab points, etc.

The matching template files created by the Matching template editing tool are used in the 3D coarse matching, 3D coarse matching v2, 3D fine matching, and 3D fine matching (Undirected) operators in ATOM.

Interface introduction

The Matching template editing tool mainly consists of the following three parts:

Area

Name

Description

1

File Management

This area displays template files, grab point files, and collision model files.

2

Toolbar

model editor icon editor : Edit point clouds.

model editor icon sampling: Downsample point cloud

model editor icon edge: Extract edge point cloud

model editor icon normal: Generate normal vector

model editor icon align: Align point cloud center

model editor icon adjust: Adjust point cloud pose

model editor icon add ：Add grab points

model editor icon teach ：Teach grab points

model editor icon mirror ：Mirror grab points

model editor icon view ：View settings (point cloud size, opacity, grab point size, coordinate axis size, switch dragger type)

3

3D editing area

This area is used to display and edit point clouds and grab points.

Operation guide

Application guide

A good template point cloud should be as noise-free as possible, with even distribution of points and sufficient features. Depending on the actual situation, you can use a face template or an edge template. The selection and processing of the template point cloud directly affects the effect of 3D matching, and should be reasonably selected and processed according to specific application requirements and object features.

  • The surface template is mainly composed of points on the surface of the object and contains a large amount of surface geometric information. It is suitable for objects with significant surface features.

  • The edge template is composed of the edge points of the object, and mainly focuses on the object contour and edge features.

Surface template

The main production process of the surface template is as follows:

  1. Cut point cloud (optional): Cut out the point cloud outside the matching part and only keep the matching part.

  2. Point cloud downsampling (optional): Downsample the point cloud to improve the matching speed while taking into account the matching accuracy.

  3. Generate point cloud normal vector

  4. Add grab point: Directly add a grab point or teach a grab point.

  5. Mirror grab point (optional)

Edge template

The main production process of edge template is as follows:

  1. Cut point cloud (optional): Cut out the point cloud outside the matching part and keep only the matching part.

  2. Extract point cloud edges

  3. Point cloud downsampling (optional): Downsample the point cloud to improve the matching speed while taking into account the matching accuracy.

  4. Generate point cloud normal vector

  5. Add pick point: Add pick point directly or teach pick point.

  6. Mirror pick point (optional)