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 pick points, etc.

Interface introduction

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

model editor interface

Area

Name

Description

1

File Management

This area displays template files, pick 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 point : Set Model Coordinate System Origin

model editor icon adjust : Model Coordinate System Transformation

model editor icon add : Add pick points

model editor icon teach : Teach pick points

model editor icon mirror : Mirror pick points

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

3

3D editing area

This area is used for model editing and displays the coordinate axis and normal of the pick points.

4

Bottom Information Bar

This area displays the centerline point coordinates, point cloud coordinates, point count, dimensions, and unit information.

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 pick point: Directly add a pick point or teach a pick point.

  5. Mirror pick 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)