Visualization Parameter Adjustment Guide
The software provides a visualization parameter adjustment display function. In visualization parameter adjustment mode, the visualization window can observe the Vision Result after parameter adjustment in real time, improving the usability and smoothness of adjusting vision parameters. This article introduces how to use the visualization parameter adjustment display function.
1. Adjust Vision Parameters
Open the Vision Parameters interface, modify the vision parameters under 2D Recognition, 3D Computation, and Pick Point Processing, and adjust them with reference to the vision parameter adjustment file.
After adjusting the vision parameters, click the Run Button/Run Historical Data on the main interface, and view the processing flow of the Vision Result after parameter adjustment in the visualization window.
2. Visualization Window
The visualization window contains two windows, 3D Matching and 2D Recognition, and a Processing Flow floating window. The Processing Flow appears after running and can be expanded or collapsed.
（1）Window Split/Merge
Click the Split Window Button to split the window into the 3D Matching window and the 2D recognition window, as shown below.
Click the Merge Window Button to merge the windows, as shown below.
（2）Set the Background color of the 3D Matching window
You can modify the Background color of the 3D Matching window to make it easier to observe the Scene Point Cloud. The default window color is dark gray. If the color of the Scene Point Cloud is dark, it is difficult to observe the Scene Point Cloud, so you can modify the Background color of the window.
Click Menu>Set Display Background, and the Set Display Background pop-up window appears, as shown below.
You can set the 3D Matching window to a solid-color or gradient Background, as shown below.
Click restore default Background to restore the 3D Matching window to the default dark gray, as shown below.
(3)Processing Flow View
After the task is triggered to run or historical data is used to run, the processing flow of the functions will automatically appear.
Click to expand Processing Flow to see the complete set of functions that have been executed, including the function name, the processing time（milliseconds）when the function started, and the processing duration（milliseconds）of the function
Click any function that has been executed, and you can see in the 2D and 3D windows the overlaid 3D Matching effect and 2D recognition effect produced from the first function up to the currently clicked function.
In the 3D Matching window, right-click a specific instance to view only the workpiece pose Point Cloud, grasp pose Point Cloud, and 2D recognition effect of that workpiece, and you can also see the processing flow and instance details of that workpiece instance. Click Cancel View to return to the Scene.
2.1 2D Recognition
Click 2D Recognition to choose to view the RGB Image, Depth Image, and Normal Vector Image of 2D recognition.
The Depth Image can be viewed and configured in the two functions “Fill Depth Image Holes” and “Filter Depth Image by Color” and in the functions after them.
The Normal Vector Image can be viewed and configured in the two functions “Depth to Normal Vector Image Function” and “Calculate Normals” and in the functions after them.
If there is no corresponding depth image or normal vector image, the corresponding option will not appear in the drop-down options.
Click the Settings Button on the right side of the 2D Recognition window to select the displayed 2D Vision Results, as shown below.
2.1.1 Show Original Image
Enable Show Original Image. After it is enabled, only the 2D image collected by the Camera is displayed, no Vision Result is displayed, and other setting items cannot be enabled.
2.1.2 Show Workspace
Enable Show Workspace. After it is enabled, only the ROI 2D workspace is displayed, as shown below.
2.1.3 Instance ID
Enable Instance ID. After it is enabled, the unique identifier of the recognized workpiece instance is displayed, as shown below.
Enable Category ID. After it is enabled, the recognized workpiece category is displayed, and instances with category ID 0 are retained by default.
2.1.4 Mask
Enable Mask. After it is enabled, the Mask of the recognized workpiece instance is displayed, as shown below.
2.1.5 Bounding Box
Enable Bounding Box. After it is enabled, the bounding box of the recognized workpiece instance is displayed, as shown below.
2.1.6 Confidence
Enable Confidence. After it is enabled, the Confidence of the recognized workpiece instance is displayed, as shown below.
2.1.7 Visibility
Enable Visibility. After it is enabled, the visibility of the recognized workpiece instance is displayed, as shown below.
2.1.8 Keypoints
Enable Keypoints. After it is enabled, the keypoints of the recognized workpiece instance are displayed, as shown below.
2.1.9 Filter All 2D Instances
When disabled, the instances recognized by the Instance Segmentation node are displayed; when enabled, the instances filtered by the Instance Filtering node are displayed.
As shown below, the Filter by Confidence function is added to the instance filtering node, and the Reference Confidence is set to 0.7, so instances with Confidence lower than 70% will be filtered.
When Filter All 2D Instances is disabled, the Confidence of the instance in the red box in the figure below is 63.1% and has not been filtered.
When Filter All 2D Instances is enabled, the Confidence of the instance in the red box is 63.1% and it will be filtered.
2.1.10 Picking Order
Enable Picking Order. After it is enabled, the picking order of the recognized workpiece instances is displayed, as shown below.
2.1.11 Grasp 6D Coordinates
Enable Pick 6D Coordinates. After it is enabled, the Picking Pose（that is, 6D coordinates）of the recognized workpiece instance is displayed, as shown below.
Left-click the blank area of the 2D Recognition window to close the settings box, then place the cursor over the 2D Recognition window and scroll the mouse wheel upward to zoom in on the 2D image and view the 6D coordinates of the Pick Point.
2.1.12 Hide Coordinate Axes
Enable Hide Coordinate Axes. After it is enabled, the coordinate axes of the Pick Point are hidden; when disabled, the coordinate axes of the Pick Point are displayed.
2.2 3D Matching
Click the Settings Button in the 3D Matching window to select the displayed 3D Vision Results, as shown below.
2.2.1 Show Original Image
Enable Show Original Image. After it is enabled, only the 3D Point Cloud is displayed, no Vision Result is displayed, and other setting items cannot be enabled, as shown below.
2.2.2 Show Workspace
Enable Show Workspace. After it is enabled, only the ROI 3D workspace is displayed, and Show Picking Area cannot be enabled, as shown below.
2.2.3 Show Picking Area
Enable Show Picking Area. After it is enabled, only the ROI 3D picking area is displayed, and Show Workspace cannot be enabled, as shown below.
2.2.4 ROI Content Only
Enable ROI Content Only. After it is enabled, only the part inside the ROI 3D area is displayed, and the part outside the ROI area will turn black, as shown below.
2.2.5 Show Workpiece Template
Enable Show Workpiece Template. After it is enabled, the Point Cloud template of the recognized workpiece instance is displayed, as shown below.
2.2.6 Show Keypoints
Enable Show Keypoints. After it is enabled, the keypoints of the recognized workpiece instance are displayed, as shown below.
2.2.7 Show Container Template
If there is a container in the Scene, you need to select collision detection in the function options to detect whether the Tool and the container will collide during the picking process. For details, refer to Collision Detection Usage Guide. After enabling Show Container Template, you can view the container template Point Cloud obtained by quadrilateral fitting, as shown below.
2.2.8 Filter All 3D Instances
When enabled, the Pick Points output after Pick Point filtering are displayed; when disabled, the Pick Points output by the 3D computation node are displayed.
As shown below, the Filter by Fine Matching Score function is added to the Pick Point Filtering node, and the Score Threshold is set to 0.85, so Pick Points generated from target object poses with a fine matching score greater than 0.85 will be output.
When Filter All 3D Instances is disabled, the Pick Points output by the 3D computation node are displayed. As shown below, all 18 workpieces generated Pick Points.
When enabled, the Pick Points output after Pick Point filtering are displayed. As shown below, 11 Pick Points are filtered out, leaving only 7 Pick Points.
2.2.9 Picking Order
After it is enabled, the picking order of the workpieces is displayed, as shown below.
2.2.10 Grasp Coordinates
After it is enabled, the grasp coordinates of the workpieces are displayed, as shown below.
2.2.11 Show Gripper
After it is enabled, the gripper of the workpiece is displayed, as shown below.
2.2.12 Hide Coordinate Axes
After it is enabled, the coordinate axes will be hidden; when disabled, the coordinate axes of the Pick Point are displayed.
2.2.13 View a Single Workpiece
Place the cursor over different workpieces to view the vision recognition result of each workpiece, as shown below.
Right-click the mouse to select the workpiece you want to view, as shown below.
Adjust point size to change the size of the workpiece Point Cloud, as shown below.
After selecting a single workpiece, you can view the Point Cloud template and fine matching result of the workpiece.
You can also view the keypoints and coarse matching result of the workpiece.
2.2.14 Show Fitted Circle
For circular-surface workpieces, enabling Show Fitted Circle allows you to view the fitted circle, as shown below.
2.2.15 Show Contour Point Cloud
For circular-surface workpieces, enabling Show Contour Point Cloud allows you to view the contour Point Cloud of the circular-surface workpiece, as shown below.
2.2.16 Show Neighborhood Point Cloud
In depalletizing Scenarios, Pick Points are calculated within the neighborhood Point Cloud range. When enabled, the neighborhood Point Cloud within the Pick Point calculation range is displayed.
