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 Overview

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, grasp point files, and collision model files; and supports model replacement and collision detection model replacement.

2

Toolbar

model editor icon editor ：Cut Out Point Cloud

model editor icon sampling ：Downsampling

model editor icon edge ：Extract Edges

model editor icon normal ：Generate Normal Vectors

model editor icon align ：Center Alignment

model editor icon point ：Set Model Coordinate System Origin

model editor icon adjust ：Model Coordinate System Transformation

model editor icon add ：Add Grasp Point

model editor icon teach ：Teach Grasp Point

model editor icon mirror ：Mirror Grasp Point

model editor icon view ：View Settings

3

3D Editing Area

This area is used for model editing and displaying grasp point coordinate axes and normals.

4

Bottom Information Bar

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

Operation Guide

For detailed operation instructions of the matching template editing tool, please refer to Operation Guide.

Application Guide

A good template point cloud should have minimal noise, evenly distributed points, and contain sufficient features. Depending on the actual situation, you can use surface templates or edge templates. The selection and processing method of template point clouds directly affect the effectiveness of 3D matching, and should be reasonably selected and processed according to specific application requirements and object characteristics.

  • 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)